[CFG] route_target_length overridden to 300 m (soft window 282–324 m)
Mode: eval
Device: cpu
GlobalRoutePlanner available: True
Python: 3.10.19
Source town: Town10HD_Opt | goal=40 | NPC=[8, 20]
Target town: Town05 | goal=auto | NPC=[8, 15]
Weather: source=night_rain_fog target=mixed
Safety shield: False
beta0 candidates: (0.5, 1.0) | auto-select=True
Follow ego view: True
No rendering: False
Output dir: /home/umb/Desktop/car2/culrt_carla_0915_aligned
Auto-selected route target length: 300m ± 18m
Train steps: 500000 | Adapt steps cap: 50000 | Adapt episodes: 100
Checkpoint: /home/umb/Desktop/car2/culrt_carla_0915_aligned/models/source_agent.pt
Episodes: 20
[OK] Loaded checkpoint.
==========================================================================================
Evaluating on Town05 | goal=auto | weather=mixed
[OK] Connected to CARLA | host=localhost port=2200 town=Town05 sync=True dt=0.050s weather=mixed fixed_goal_index=-1
Resolved target env town: Town05
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=9 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=66.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.38km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=86.53s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.37km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=2.7% goal=230.02m dL=0.05 ttc=24.22s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.23 safe=0 progress=3.4% goal=228.23m dL=0.07 ttc=12.12s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.09km/h thr=0.75 brk=0.00 str=-0.10 safe=1 progress=3.5% goal=228.09m dL=0.07 ttc=13.49s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.76km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=4.9% goal=224.65m dL=0.01 ttc=30.97s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.44km/h thr=0.00 brk=0.28 str=-0.01 safe=0 progress=6.6% goal=220.61m dL=0.03 ttc=37.32s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.11 safe=0 progress=7.1% goal=219.48m dL=0.03 ttc=21.77s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.50km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=7.3% goal=219.01m dL=0.02 ttc=71.42s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.21km/h thr=0.00 brk=0.16 str=+0.03 safe=0 progress=9.0% goal=214.93m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.61km/h thr=0.00 brk=0.39 str=+0.01 safe=0 progress=10.5% goal=211.38m dL=0.03 ttc=66.85s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.12 safe=0 progress=10.8% goal=210.85m dL=0.03 ttc=34.60s tl=None credit=0 reason=
[STEP] step=0260 speed= 12.07km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=11.3% goal=209.69m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 14.99km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=13.2% goal=205.17m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  6.89km/h thr=0.00 brk=0.41 str=+0.02 safe=0 progress=14.4% goal=202.17m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=14.5% goal=202.09m dL=0.02 ttc=75.03s tl=None credit=0 reason=
[STEP] step=0340 speed= 15.58km/h thr=0.53 brk=0.00 str=+0.00 safe=1 progress=15.3% goal=200.14m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.57km/h thr=0.00 brk=0.21 str=-0.00 safe=0 progress=17.2% goal=195.55m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.14 safe=0 progress=18.3% goal=193.12m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.22km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=18.3% goal=193.12m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.54km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=19.3% goal=190.73m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed= 11.95km/h thr=0.00 brk=0.23 str=-0.02 safe=0 progress=21.1% goal=186.40m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.60 str=-0.18 safe=0 progress=21.8% goal=184.71m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed=  4.86km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=21.9% goal=184.50m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed= 18.05km/h thr=0.18 brk=0.00 str=+0.02 safe=0 progress=23.5% goal=180.84m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed= 10.42km/h thr=0.00 brk=0.27 str=+0.07 safe=0 progress=25.2% goal=176.84m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.19 safe=0 progress=25.6% goal=175.69m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed=  7.62km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=25.9% goal=175.21m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 16.42km/h thr=0.00 brk=0.16 str=+0.01 safe=0 progress=27.5% goal=171.25m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed=  7.57km/h thr=0.00 brk=0.35 str=-0.00 safe=0 progress=28.9% goal=167.96m dL=0.16 ttc=317.17s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.61 str=-0.19 safe=0 progress=29.0% goal=167.69m dL=0.17 ttc=43.75s tl=None credit=0 reason=
[STEP] step=0640 speed= 13.49km/h thr=0.44 brk=0.00 str=-0.04 safe=1 progress=29.7% goal=166.17m dL=0.09 ttc=135.18s tl=None credit=0 reason=
[STEP] step=0660 speed= 12.60km/h thr=0.00 brk=0.30 str=-0.06 safe=0 progress=31.4% goal=162.00m dL=0.09 ttc=62.25s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.12 safe=0 progress=32.2% goal=160.13m dL=0.14 ttc=26.46s tl=None credit=0 reason=
[STEP] step=0700 speed=  4.06km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=32.3% goal=159.98m dL=0.13 ttc=26.87s tl=None credit=0 reason=
[STEP] step=0720 speed= 16.24km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=33.7% goal=156.73m dL=0.02 ttc=38.53s tl=None credit=0 reason=
[STEP] step=0740 speed=  8.77km/h thr=0.00 brk=0.36 str=-0.15 safe=0 progress=35.2% goal=153.11m dL=0.15 ttc=26.30s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.17 safe=0 progress=35.4% goal=152.56m dL=0.14 ttc=25.07s tl=None credit=0 reason=
[STEP] step=0780 speed= 11.16km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=35.9% goal=151.57m dL=0.09 ttc=42.43s tl=None credit=0 reason=
[STEP] step=0800 speed= 13.25km/h thr=0.00 brk=0.32 str=-0.05 safe=0 progress=37.6% goal=147.51m dL=0.11 ttc=46.81s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.18 safe=0 progress=38.5% goal=145.41m dL=0.15 ttc=26.31s tl=None credit=0 reason=
[STEP] step=0840 speed=  2.23km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=38.5% goal=145.35m dL=0.15 ttc=32.87s tl=None credit=0 reason=
[STEP] step=0860 speed= 15.85km/h thr=0.36 brk=0.00 str=-0.06 safe=0 progress=39.7% goal=142.46m dL=0.01 ttc=246.95s tl=None credit=0 reason=
[STEP] step=0880 speed=  9.43km/h thr=0.00 brk=0.33 str=-0.13 safe=0 progress=41.3% goal=138.71m dL=0.15 ttc=227.61s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.22 safe=0 progress=41.6% goal=137.95m dL=0.17 ttc=31.40s tl=None credit=0 reason=
[STEP] step=0920 speed= 10.23km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=42.0% goal=137.10m dL=0.12 ttc=38.13s tl=None credit=0 reason=
[STEP] step=0940 speed= 14.56km/h thr=0.00 brk=0.35 str=-0.04 safe=0 progress=43.7% goal=133.00m dL=0.07 ttc=36.50s tl=None credit=0 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.20 safe=0 progress=44.8% goal=130.43m dL=0.14 ttc=18.82s tl=None credit=0 reason=
[STEP] step=0980 speed=  1.10km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=44.8% goal=130.41m dL=0.14 ttc=18.76s tl=None credit=0 reason=
[STEP] step=1000 speed= 15.31km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=45.9% goal=127.90m dL=0.02 ttc=36.80s tl=None credit=0 reason=
[STEP] step=1020 speed= 10.06km/h thr=0.00 brk=0.35 str=-0.06 safe=0 progress=47.5% goal=124.01m dL=0.16 ttc=24.75s tl=None credit=0 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.16 safe=0 progress=47.9% goal=123.07m dL=0.15 ttc=14.80s tl=None credit=0 reason=
[STEP] step=1060 speed=  9.30km/h thr=0.75 brk=0.00 str=-0.17 safe=1 progress=48.2% goal=122.36m dL=0.11 ttc=17.76s tl=None credit=0 reason=
[STEP] step=1080 speed= 14.79km/h thr=0.00 brk=0.32 str=-0.11 safe=0 progress=49.9% goal=118.37m dL=0.13 ttc=21.66s tl=None credit=0 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.17 safe=0 progress=51.0% goal=115.78m dL=0.16 ttc=15.19s tl=None credit=0 reason=
[STEP] step=1120 speed=  0.94km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=51.0% goal=115.77m dL=0.16 ttc=20.41s tl=None credit=0 reason=
[STEP] step=1140 speed= 16.05km/h thr=0.42 brk=0.00 str=-0.03 safe=1 progress=52.1% goal=113.22m dL=0.03 ttc=51.61s tl=None credit=0 reason=
[STEP] step=1160 speed= 10.53km/h thr=0.00 brk=0.39 str=-0.13 safe=0 progress=53.8% goal=109.13m dL=0.16 ttc=44.97s tl=None credit=0 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.23 safe=0 progress=54.2% goal=108.15m dL=0.11 ttc=47.30s tl=None credit=0 reason=
[STEP] step=1200 speed=  8.58km/h thr=0.75 brk=0.00 str=-0.15 safe=1 progress=54.5% goal=107.56m dL=0.06 ttc=39.75s tl=None credit=0 reason=
[STEP] step=1220 speed= 18.72km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=56.3% goal=103.25m dL=0.08 ttc=17.24s tl=None credit=0 reason=
[STEP] step=1240 speed= 21.36km/h thr=0.37 brk=0.00 str=-0.02 safe=0 progress=58.7% goal=97.68m dL=0.05 ttc=15.59s tl=None credit=0 reason=
[STEP] step=1260 speed= 22.34km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=61.2% goal=91.63m dL=0.04 ttc=12.93s tl=None credit=0 reason=
[STEP] step=1280 speed= 22.86km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=63.9% goal=85.38m dL=0.04 ttc=10.64s tl=None credit=0 reason=
[STEP] step=1300 speed= 22.94km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=66.5% goal=79.05m dL=0.06 ttc=8.86s tl=None credit=0 reason=
[STEP] step=1320 speed= 22.88km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=69.2% goal=72.73m dL=0.08 ttc=7.37s tl=None credit=0 reason=
[STEP] step=1340 speed= 23.03km/h thr=0.36 brk=0.00 str=-0.04 safe=0 progress=71.9% goal=66.40m dL=0.14 ttc=6.07s tl=None credit=0 reason=
[STEP] step=1360 speed= 20.78km/h thr=0.00 brk=0.08 str=-0.02 safe=0 progress=74.6% goal=60.09m dL=0.23 ttc=5.26s tl=None credit=0 reason=
[STEP] step=1380 speed= 15.14km/h thr=0.42 brk=0.00 str=+0.06 safe=0 progress=76.6% goal=55.37m dL=0.27 ttc=4.68s tl=None credit=0 reason=
[STEP] step=1400 speed= 15.86km/h thr=0.42 brk=0.00 str=+0.02 safe=0 progress=78.4% goal=50.93m dL=0.23 ttc=5.54s tl=None credit=0 reason=
[STEP] step=1420 speed= 18.39km/h thr=0.54 brk=0.00 str=+0.05 safe=0 progress=80.4% goal=46.20m dL=0.29 ttc=6.35s tl=None credit=0 reason=
[STEP] step=1440 speed= 25.02km/h thr=0.25 brk=0.00 str=-0.07 safe=0 progress=83.1% goal=39.91m dL=0.13 ttc=28.67s tl=None credit=0 reason=
[STEP] step=1460 speed= 25.12km/h thr=0.32 brk=0.00 str=+0.02 safe=0 progress=86.1% goal=32.95m dL=0.25 ttc=29.08s tl=None credit=0 reason=
[STEP] step=1480 speed= 23.96km/h thr=0.35 brk=0.00 str=+0.00 safe=0 progress=88.9% goal=26.13m dL=0.22 ttc=27.75s tl=None credit=0 reason=
[STEP] step=1500 speed= 23.00km/h thr=0.28 brk=0.00 str=-0.14 safe=0 progress=91.7% goal=19.55m dL=0.09 ttc=24.25s tl=None credit=0 reason=
[STEP] step=1520 speed= 22.70km/h thr=0.45 brk=0.00 str=+0.22 safe=0 progress=94.4% goal=13.30m dL=0.41 ttc=22.93s tl=None credit=0 reason=
[STEP] step=1521 speed= 23.13km/h thr=0.51 brk=0.00 str=+0.19 safe=0 progress=94.5% goal=12.99m dL=0.38 ttc=22.88s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=01 R=39.29 steps=1521 success=1 progress=94.5% DS=94.50 intv=0.279 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 148 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=15 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=76.79s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=24.73s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.54km/h thr=0.00 brk=0.25 str=-0.01 safe=0 progress=2.7% goal=230.04m dL=0.09 ttc=15.47s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.25 safe=0 progress=3.5% goal=228.10m dL=0.13 ttc=10.69s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.09km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=3.5% goal=227.99m dL=0.12 ttc=14.44s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.92km/h thr=0.30 brk=0.00 str=-0.15 safe=0 progress=4.9% goal=224.72m dL=0.03 ttc=19.12s tl=None credit=0 reason=
[STEP] step=0140 speed= 11.46km/h thr=0.00 brk=0.25 str=-0.01 safe=0 progress=6.7% goal=220.46m dL=0.06 ttc=25.34s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.20 safe=0 progress=7.3% goal=218.99m dL=0.10 ttc=30.84s tl=None credit=0 reason=
[STEP] step=0180 speed=  5.72km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=7.4% goal=218.71m dL=0.08 ttc=45.55s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.72km/h thr=0.12 brk=0.00 str=+0.06 safe=0 progress=9.1% goal=214.91m dL=0.03 ttc=31.81s tl=None credit=0 reason=
[STEP] step=0220 speed=  9.63km/h thr=0.00 brk=0.31 str=+0.02 safe=0 progress=10.7% goal=211.10m dL=0.05 ttc=11.80s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.03 safe=0 progress=11.0% goal=210.23m dL=0.07 ttc=5.86s tl=None credit=0 reason=
[STEP] step=0260 speed=  9.30km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=11.3% goal=209.52m dL=0.04 ttc=7.98s tl=None credit=0 reason=
[STEP] step=0280 speed= 16.50km/h thr=0.00 brk=0.14 str=+0.11 safe=0 progress=13.2% goal=205.21m dL=0.02 ttc=19.84s tl=None credit=0 reason=
[STEP] step=0300 speed=  8.08km/h thr=0.00 brk=0.42 str=-0.06 safe=0 progress=14.6% goal=201.82m dL=0.08 ttc=12.12s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.11 safe=0 progress=14.8% goal=201.39m dL=0.08 ttc=7.46s tl=None credit=0 reason=
[STEP] step=0340 speed= 13.20km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=15.3% goal=200.03m dL=0.04 ttc=62.90s tl=None credit=0 reason=
[STEP] step=0360 speed= 15.12km/h thr=0.06 brk=0.00 str=+0.03 safe=0 progress=17.3% goal=195.44m dL=0.01 ttc=73.29s tl=None credit=0 reason=
[STEP] step=0380 speed= 15.99km/h thr=0.00 brk=0.13 str=+0.10 safe=0 progress=19.1% goal=191.08m dL=0.10 ttc=87.17s tl=None credit=0 reason=
[STEP] step=0400 speed= 16.72km/h thr=0.24 brk=0.00 str=+0.08 safe=0 progress=20.9% goal=186.90m dL=0.14 ttc=129.60s tl=None credit=0 reason=
[STEP] step=0420 speed= 15.41km/h thr=0.42 brk=0.00 str=-0.11 safe=0 progress=22.7% goal=182.72m dL=0.09 ttc=141.40s tl=None credit=0 reason=
[STEP] step=0440 speed= 11.75km/h thr=0.00 brk=0.25 str=+0.05 safe=0 progress=24.4% goal=178.57m dL=0.08 ttc=7.61s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.52 str=+0.05 safe=0 progress=25.2% goal=176.85m dL=0.02 ttc=6.27s tl=None credit=0 reason=
[STEP] step=0480 speed=  3.96km/h thr=0.75 brk=0.00 str=-0.08 safe=1 progress=25.2% goal=176.70m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed= 16.96km/h thr=0.24 brk=0.00 str=-0.08 safe=0 progress=26.6% goal=173.34m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed= 15.02km/h thr=0.05 brk=0.00 str=+0.00 safe=0 progress=28.5% goal=168.86m dL=0.35 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed= 12.08km/h thr=0.12 brk=0.00 str=-0.01 safe=0 progress=30.1% goal=165.19m dL=0.52 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 11.75km/h thr=0.30 brk=0.00 str=-0.06 safe=0 progress=31.5% goal=161.97m dL=0.24 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.11 safe=0 progress=32.5% goal=159.51m dL=0.04 ttc=183.48s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.84km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=32.5% goal=159.50m dL=0.04 ttc=178.68s tl=None credit=0 reason=
[STEP] step=0620 speed= 15.28km/h thr=0.42 brk=0.00 str=-0.14 safe=1 progress=33.6% goal=156.98m dL=0.03 ttc=402.09s tl=None credit=0 reason=
[STEP] step=0640 speed= 10.41km/h thr=0.00 brk=0.31 str=-0.05 safe=0 progress=35.2% goal=153.04m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.20 safe=0 progress=35.7% goal=151.93m dL=0.14 ttc=181.35s tl=None credit=0 reason=
[STEP] step=0680 speed=  7.58km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=35.9% goal=151.45m dL=0.13 ttc=468.94s tl=None credit=0 reason=
[STEP] step=0700 speed= 15.79km/h thr=0.00 brk=0.16 str=+0.08 safe=0 progress=37.5% goal=147.61m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed=  7.05km/h thr=0.00 brk=0.35 str=-0.10 safe=0 progress=38.9% goal=144.49m dL=0.13 ttc=526.80s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.08km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=38.9% goal=144.37m dL=0.13 ttc=224.89s tl=None credit=0 reason=
[STEP] step=0760 speed= 14.34km/h thr=0.42 brk=0.00 str=-0.14 safe=1 progress=39.7% goal=142.46m dL=0.02 ttc=122.89s tl=None credit=0 reason=
[STEP] step=0780 speed= 11.46km/h thr=0.00 brk=0.33 str=-0.06 safe=0 progress=41.4% goal=138.39m dL=0.12 ttc=167.01s tl=None credit=0 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.13 safe=0 progress=42.0% goal=136.94m dL=0.14 ttc=98.37s tl=None credit=0 reason=
[STEP] step=0820 speed=  4.90km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=42.1% goal=136.72m dL=0.12 ttc=58.37s tl=None credit=0 reason=
[STEP] step=0840 speed= 15.91km/h thr=0.12 brk=0.00 str=+0.03 safe=0 progress=43.6% goal=133.33m dL=0.06 ttc=47.87s tl=None credit=0 reason=
[STEP] step=0860 speed=  7.44km/h thr=0.00 brk=0.36 str=-0.11 safe=0 progress=44.9% goal=130.09m dL=0.14 ttc=47.58s tl=None credit=0 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.13 safe=0 progress=45.0% goal=129.87m dL=0.13 ttc=48.23s tl=None credit=0 reason=
[STEP] step=0900 speed= 13.98km/h thr=0.42 brk=0.00 str=-0.13 safe=1 progress=45.8% goal=128.17m dL=0.02 ttc=31.38s tl=None credit=0 reason=
[STEP] step=0920 speed= 11.93km/h thr=0.00 brk=0.34 str=-0.07 safe=0 progress=47.5% goal=124.06m dL=0.14 ttc=19.97s tl=None credit=0 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.16 safe=0 progress=48.2% goal=122.47m dL=0.14 ttc=18.40s tl=None credit=0 reason=
[STEP] step=0960 speed=  4.92km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=48.3% goal=122.26m dL=0.13 ttc=17.06s tl=None credit=0 reason=
[STEP] step=0980 speed= 16.14km/h thr=0.18 brk=0.00 str=+0.10 safe=0 progress=49.7% goal=118.85m dL=0.04 ttc=13.96s tl=None credit=0 reason=
[STEP] step=1000 speed=  8.00km/h thr=0.00 brk=0.36 str=-0.14 safe=0 progress=51.1% goal=115.43m dL=0.14 ttc=13.93s tl=None credit=0 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.19 safe=0 progress=51.3% goal=115.05m dL=0.15 ttc=17.38s tl=None credit=0 reason=
[STEP] step=1040 speed= 13.09km/h thr=0.75 brk=0.00 str=+0.06 safe=1 progress=51.9% goal=113.70m dL=0.06 ttc=11.54s tl=None credit=0 reason=
[STEP] step=1060 speed= 16.25km/h thr=0.18 brk=0.00 str=-0.07 safe=0 progress=53.8% goal=109.15m dL=0.13 ttc=10.15s tl=None credit=0 reason=
[STEP] step=1080 speed= 17.62km/h thr=0.37 brk=0.00 str=-0.06 safe=0 progress=55.7% goal=104.63m dL=0.01 ttc=8.94s tl=None credit=0 reason=
[STEP] step=1100 speed= 19.38km/h thr=0.25 brk=0.00 str=-0.05 safe=0 progress=57.9% goal=99.50m dL=0.04 ttc=8.21s tl=None credit=0 reason=
[STEP] step=1120 speed= 16.48km/h thr=0.14 brk=0.00 str=-0.06 safe=0 progress=60.0% goal=94.47m dL=0.07 ttc=12.42s tl=None credit=0 reason=
[STEP] step=1140 speed= 15.92km/h thr=0.00 brk=0.08 str=-0.00 safe=0 progress=62.0% goal=89.90m dL=0.11 ttc=12.31s tl=None credit=0 reason=
[STEP] step=1160 speed= 18.04km/h thr=0.18 brk=0.00 str=+0.01 safe=0 progress=63.9% goal=85.31m dL=0.17 ttc=10.30s tl=None credit=0 reason=
[STEP] step=1180 speed= 17.17km/h thr=0.51 brk=0.00 str=-0.07 safe=0 progress=65.8% goal=80.87m dL=0.14 ttc=7.31s tl=None credit=0 reason=
[STEP] step=1200 speed= 17.15km/h thr=0.08 brk=0.00 str=+0.02 safe=0 progress=67.9% goal=75.93m dL=0.09 ttc=6.49s tl=None credit=0 reason=
[STEP] step=1220 speed= 16.55km/h thr=0.30 brk=0.00 str=-0.09 safe=0 progress=69.8% goal=71.39m dL=0.06 ttc=4.31s tl=None credit=0 reason=
[STEP] step=1240 speed= 20.36km/h thr=0.49 brk=0.00 str=-0.01 safe=0 progress=71.9% goal=66.33m dL=0.04 ttc=4.38s tl=None credit=0 reason=
[STEP] step=1260 speed= 22.87km/h thr=0.37 brk=0.00 str=+0.05 safe=0 progress=74.6% goal=60.13m dL=0.08 ttc=40.20s tl=None credit=0 reason=
[STEP] step=1280 speed= 23.89km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=77.3% goal=53.66m dL=0.14 ttc=38.93s tl=None credit=0 reason=
[STEP] step=1300 speed= 24.62km/h thr=0.31 brk=0.00 str=+0.03 safe=0 progress=80.2% goal=46.90m dL=0.24 ttc=38.56s tl=None credit=0 reason=
[STEP] step=1320 speed= 25.55km/h thr=0.32 brk=0.00 str=+0.03 safe=0 progress=83.1% goal=39.89m dL=0.44 ttc=37.49s tl=None credit=0 reason=
[STEP] step=1340 speed= 22.67km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=86.0% goal=33.15m dL=0.48 ttc=42.19s tl=None credit=0 reason=
[STEP] step=1360 speed= 21.65km/h thr=0.35 brk=0.00 str=-0.03 safe=0 progress=88.6% goal=27.05m dL=0.62 ttc=44.61s tl=None credit=0 reason=
[STEP] step=1380 speed= 22.15km/h thr=0.37 brk=0.00 str=+0.06 safe=0 progress=91.1% goal=20.97m dL=0.75 ttc=40.26s tl=None credit=0 reason=
[STEP] step=1400 speed= 22.81km/h thr=0.38 brk=0.00 str=-0.03 safe=0 progress=93.8% goal=14.73m dL=0.84 ttc=40.37s tl=None credit=0 reason=
[STEP] step=1406 speed= 22.82km/h thr=0.41 brk=0.00 str=+0.02 safe=0 progress=94.6% goal=12.83m dL=0.86 ttc=40.36s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=02 R=-30.38 steps=1406 success=1 progress=94.6% DS=94.57 intv=0.231 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 165 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=15 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=37.82s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=21.47s tl=None credit=0 reason=
[STEP] step=0060 speed= 14.95km/h thr=0.36 brk=0.00 str=-0.09 safe=0 progress=2.7% goal=229.89m dL=0.19 ttc=23.05s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.92km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=4.6% goal=225.49m dL=0.18 ttc=27.24s tl=None credit=0 reason=
[STEP] step=0100 speed= 12.47km/h thr=0.30 brk=0.00 str=-0.03 safe=0 progress=6.3% goal=221.35m dL=0.17 ttc=24.04s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.60km/h thr=0.00 brk=0.08 str=-0.04 safe=0 progress=8.1% goal=217.19m dL=0.15 ttc=21.55s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.70km/h thr=0.30 brk=0.00 str=+0.01 safe=0 progress=9.9% goal=212.97m dL=0.12 ttc=12.56s tl=None credit=0 reason=
[STEP] step=0160 speed= 16.23km/h thr=0.42 brk=0.00 str=+0.04 safe=0 progress=11.7% goal=208.57m dL=0.13 ttc=8.25s tl=None credit=0 reason=
[STEP] step=0180 speed= 10.39km/h thr=0.00 brk=0.30 str=+0.00 safe=0 progress=13.4% goal=204.55m dL=0.08 ttc=5.91s tl=None credit=0 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.03 safe=0 progress=13.9% goal=203.38m dL=0.06 ttc=4.91s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=14.1% goal=202.87m dL=0.05 ttc=4.97s tl=None credit=0 reason=
[STEP] step=0240 speed= 17.77km/h thr=0.12 brk=0.00 str=+0.10 safe=0 progress=15.9% goal=198.69m dL=0.03 ttc=7.16s tl=None credit=0 reason=
[STEP] step=0260 speed= 15.99km/h thr=0.20 brk=0.00 str=-0.01 safe=0 progress=17.8% goal=194.15m dL=0.00 ttc=27.59s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.90km/h thr=0.19 brk=0.00 str=+0.01 safe=0 progress=19.7% goal=189.67m dL=0.01 ttc=39.76s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.38km/h thr=0.36 brk=0.00 str=-0.04 safe=0 progress=21.6% goal=185.19m dL=0.02 ttc=41.89s tl=None credit=0 reason=
[STEP] step=0320 speed= 16.11km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=23.5% goal=180.87m dL=0.06 ttc=40.82s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.40km/h thr=0.42 brk=0.00 str=+0.01 safe=0 progress=25.3% goal=176.59m dL=0.04 ttc=37.01s tl=None credit=0 reason=
[STEP] step=0360 speed= 14.91km/h thr=0.19 brk=0.00 str=-0.05 safe=0 progress=27.1% goal=172.30m dL=0.07 ttc=38.18s tl=None credit=0 reason=
[STEP] step=0380 speed= 14.22km/h thr=0.18 brk=0.00 str=+0.16 safe=0 progress=28.7% goal=168.52m dL=0.08 ttc=33.83s tl=None credit=0 reason=
[STEP] step=0400 speed= 14.33km/h thr=0.14 brk=0.00 str=+0.02 safe=0 progress=30.4% goal=164.58m dL=0.16 ttc=9.87s tl=None credit=0 reason=
[STEP] step=0420 speed=  8.07km/h thr=0.00 brk=0.12 str=-0.03 safe=0 progress=31.7% goal=161.43m dL=0.00 ttc=4.83s tl=None credit=0 reason=
[STEP] step=0440 speed= 11.41km/h thr=0.52 brk=0.00 str=-0.10 safe=0 progress=32.7% goal=159.09m dL=0.02 ttc=4.43s tl=None credit=0 reason=
[STEP] step=0460 speed= 14.99km/h thr=0.29 brk=0.00 str=-0.08 safe=0 progress=34.3% goal=155.20m dL=0.02 ttc=4.30s tl=None credit=0 reason=
[STEP] step=0480 speed= 14.82km/h thr=0.09 brk=0.00 str=+0.07 safe=0 progress=36.1% goal=151.00m dL=0.01 ttc=21.51s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.25km/h thr=0.21 brk=0.00 str=-0.04 safe=0 progress=37.8% goal=147.03m dL=0.02 ttc=20.05s tl=None credit=0 reason=
[STEP] step=0520 speed= 14.64km/h thr=0.26 brk=0.00 str=-0.10 safe=0 progress=39.5% goal=143.00m dL=0.03 ttc=10.30s tl=None credit=0 reason=
[STEP] step=0540 speed= 14.78km/h thr=0.26 brk=0.00 str=-0.08 safe=0 progress=41.2% goal=138.90m dL=0.04 ttc=17.74s tl=None credit=0 reason=
[STEP] step=0560 speed= 14.80km/h thr=0.18 brk=0.00 str=+0.05 safe=0 progress=43.0% goal=134.78m dL=0.07 ttc=16.42s tl=None credit=0 reason=
[STEP] step=0580 speed= 14.01km/h thr=0.27 brk=0.00 str=-0.18 safe=0 progress=44.7% goal=130.73m dL=0.01 ttc=15.02s tl=None credit=0 reason=
[STEP] step=0600 speed= 14.60km/h thr=0.27 brk=0.00 str=-0.10 safe=0 progress=46.3% goal=126.78m dL=0.02 ttc=13.50s tl=None credit=0 reason=
[STEP] step=0620 speed= 15.14km/h thr=0.24 brk=0.00 str=-0.09 safe=0 progress=48.1% goal=122.62m dL=0.00 ttc=13.51s tl=None credit=0 reason=
[STEP] step=0640 speed= 14.86km/h thr=0.20 brk=0.00 str=+0.02 safe=0 progress=49.9% goal=118.46m dL=0.02 ttc=12.34s tl=None credit=0 reason=
[STEP] step=0660 speed= 15.76km/h thr=0.22 brk=0.00 str=-0.06 safe=0 progress=51.7% goal=114.23m dL=0.02 ttc=11.06s tl=None credit=0 reason=
[STEP] step=0680 speed= 17.06km/h thr=0.31 brk=0.00 str=-0.17 safe=0 progress=53.6% goal=109.76m dL=0.00 ttc=9.80s tl=None credit=0 reason=
[STEP] step=0700 speed= 15.20km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=55.5% goal=105.14m dL=0.12 ttc=4.57s tl=None credit=0 reason=
[STEP] step=0720 speed= 16.23km/h thr=0.18 brk=0.00 str=-0.00 safe=0 progress=57.4% goal=100.59m dL=0.07 ttc=7.93s tl=None credit=0 reason=
[STEP] step=0740 speed= 16.50km/h thr=0.24 brk=0.00 str=-0.05 safe=0 progress=59.3% goal=96.07m dL=0.04 ttc=6.19s tl=None credit=0 reason=
[STEP] step=0760 speed= 16.59km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=61.2% goal=91.58m dL=0.05 ttc=6.19s tl=None credit=0 reason=
[STEP] step=0780 speed= 16.52km/h thr=0.18 brk=0.00 str=+0.02 safe=0 progress=63.2% goal=86.94m dL=0.06 ttc=5.40s tl=None credit=0 reason=
[STEP] step=0800 speed= 16.61km/h thr=0.24 brk=0.00 str=+0.05 safe=0 progress=65.1% goal=82.44m dL=0.04 ttc=5.03s tl=None credit=0 reason=
[STEP] step=0820 speed= 16.57km/h thr=0.30 brk=0.00 str=-0.02 safe=0 progress=67.0% goal=77.93m dL=0.00 ttc=5.00s tl=None credit=0 reason=
[STEP] step=0840 speed= 15.89km/h thr=0.42 brk=0.00 str=-0.05 safe=0 progress=68.9% goal=73.38m dL=0.00 ttc=5.10s tl=None credit=0 reason=
[STEP] step=0860 speed= 16.00km/h thr=0.24 brk=0.00 str=+0.00 safe=0 progress=70.8% goal=68.89m dL=0.03 ttc=4.83s tl=None credit=0 reason=
[STEP] step=0880 speed= 16.00km/h thr=0.24 brk=0.00 str=-0.08 safe=0 progress=72.7% goal=64.45m dL=0.06 ttc=4.54s tl=None credit=0 reason=
[STEP] step=0900 speed= 16.32km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=74.6% goal=59.97m dL=0.09 ttc=4.86s tl=None credit=0 reason=
[STEP] step=0920 speed= 17.89km/h thr=0.32 brk=0.00 str=-0.07 safe=0 progress=76.6% goal=55.21m dL=0.10 ttc=4.48s tl=None credit=0 reason=
[STEP] step=0940 speed= 17.56km/h thr=0.27 brk=0.00 str=+0.02 safe=0 progress=78.7% goal=50.27m dL=0.12 ttc=5.47s tl=None credit=0 reason=
[STEP] step=0960 speed= 17.06km/h thr=0.28 brk=0.00 str=-0.05 safe=0 progress=80.8% goal=45.45m dL=0.08 ttc=6.81s tl=None credit=0 reason=
[STEP] step=0980 speed= 17.60km/h thr=0.20 brk=0.00 str=+0.03 safe=0 progress=82.8% goal=40.67m dL=0.05 ttc=12.85s tl=None credit=0 reason=
[STEP] step=1000 speed= 17.68km/h thr=0.19 brk=0.00 str=+0.01 safe=0 progress=84.9% goal=35.79m dL=0.06 ttc=27.03s tl=None credit=0 reason=
[STEP] step=1020 speed= 18.22km/h thr=0.30 brk=0.00 str=+0.02 safe=0 progress=87.0% goal=30.82m dL=0.08 ttc=19.31s tl=None credit=0 reason=
[STEP] step=1040 speed= 18.57km/h thr=0.31 brk=0.00 str=+0.01 safe=0 progress=89.1% goal=25.77m dL=0.12 ttc=17.78s tl=None credit=0 reason=
[STEP] step=1060 speed= 19.92km/h thr=0.26 brk=0.00 str=+0.04 safe=0 progress=91.3% goal=20.50m dL=0.12 ttc=20.47s tl=None credit=0 reason=
[STEP] step=1080 speed= 18.69km/h thr=0.31 brk=0.00 str=-0.07 safe=0 progress=93.6% goal=15.14m dL=0.16 ttc=22.66s tl=None credit=0 reason=
[STEP] step=1089 speed= 18.42km/h thr=0.25 brk=0.00 str=+0.02 safe=0 progress=94.6% goal=12.86m dL=0.15 ttc=26.44s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=03 R=-160.76 steps=1089 success=1 progress=94.6% DS=94.56 intv=0.046 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 182 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=11 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=120.26s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=147.25s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.35km/h thr=0.00 brk=0.27 str=-0.02 safe=0 progress=2.6% goal=230.06m dL=0.07 ttc=77.82s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.26 safe=0 progress=3.4% goal=228.27m dL=0.11 ttc=43.26s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.05km/h thr=0.75 brk=0.00 str=-0.15 safe=1 progress=3.5% goal=228.12m dL=0.09 ttc=41.01s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.76km/h thr=0.24 brk=0.00 str=-0.13 safe=0 progress=4.9% goal=224.67m dL=0.00 ttc=47.15s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.74km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=6.7% goal=220.57m dL=0.03 ttc=45.60s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.23 safe=0 progress=7.2% goal=219.35m dL=0.06 ttc=42.15s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.60km/h thr=0.75 brk=0.00 str=-0.05 safe=1 progress=7.4% goal=218.88m dL=0.04 ttc=52.50s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.20km/h thr=0.00 brk=0.16 str=+0.03 safe=0 progress=9.1% goal=214.79m dL=0.03 ttc=92.21s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.72km/h thr=0.00 brk=0.31 str=+0.02 safe=0 progress=10.6% goal=211.24m dL=0.03 ttc=57.33s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.11 safe=0 progress=10.9% goal=210.64m dL=0.03 ttc=28.94s tl=None credit=0 reason=
[STEP] step=0260 speed= 11.13km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=11.3% goal=209.65m dL=0.02 ttc=20.23s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.43km/h thr=0.00 brk=0.23 str=-0.02 safe=0 progress=13.2% goal=205.19m dL=0.03 ttc=13.76s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.50km/h thr=0.00 brk=0.41 str=-0.05 safe=0 progress=14.5% goal=202.04m dL=0.02 ttc=10.23s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.10 safe=0 progress=14.6% goal=201.81m dL=0.02 ttc=8.46s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.05km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=15.2% goal=200.27m dL=0.01 ttc=7.07s tl=None credit=0 reason=
[STEP] step=0360 speed= 14.22km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=17.2% goal=195.68m dL=0.02 ttc=6.08s tl=None credit=0 reason=
[STEP] step=0380 speed=  1.05km/h thr=0.00 brk=0.40 str=-0.04 safe=0 progress=18.4% goal=192.91m dL=0.00 ttc=5.21s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.26km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=18.4% goal=192.91m dL=0.00 ttc=4.25s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.10km/h thr=0.44 brk=0.00 str=+0.00 safe=1 progress=19.3% goal=190.74m dL=0.01 ttc=3.16s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.12km/h thr=0.00 brk=0.07 str=+0.07 safe=0 progress=21.2% goal=186.22m dL=0.03 ttc=2.19s tl=None credit=0 reason=
[STEP] step=0460 speed= 18.81km/h thr=0.65 brk=0.00 str=+0.05 safe=0 progress=22.9% goal=182.21m dL=0.11 ttc=1.22s tl=None credit=0 reason=
[STEP] step=0480 speed= 23.05km/h thr=0.40 brk=0.00 str=-0.02 safe=0 progress=25.3% goal=176.45m dL=0.12 ttc=0.38s tl=None credit=0 reason=
[STEP] step=0500 speed= 24.39km/h thr=0.27 brk=0.00 str=+0.07 safe=0 progress=28.1% goal=169.86m dL=0.11 ttc=37.99s tl=None credit=0 reason=
[STEP] step=0520 speed= 24.37km/h thr=0.23 brk=0.00 str=-0.17 safe=0 progress=31.0% goal=163.08m dL=0.09 ttc=26.59s tl=None credit=0 reason=
[STEP] step=0540 speed= 22.89km/h thr=0.00 brk=0.16 str=+0.06 safe=0 progress=33.8% goal=156.50m dL=0.09 ttc=22.18s tl=None credit=0 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.13 safe=0 progress=34.6% goal=154.55m dL=0.12 ttc=12.96s tl=None credit=0 reason=
[STEP] step=0580 speed=  9.46km/h thr=0.75 brk=0.00 str=-0.14 safe=1 progress=34.9% goal=153.84m dL=0.08 ttc=13.49s tl=None credit=0 reason=
[STEP] step=0600 speed= 14.85km/h thr=0.00 brk=0.32 str=-0.04 safe=0 progress=36.6% goal=149.83m dL=0.06 ttc=13.25s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.62km/h thr=0.00 brk=0.39 str=-0.11 safe=0 progress=37.8% goal=147.03m dL=0.16 ttc=9.41s tl=None credit=0 reason=
[STEP] step=0640 speed=  0.38km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=37.8% goal=147.02m dL=0.16 ttc=9.29s tl=None credit=0 reason=
[STEP] step=0660 speed= 15.21km/h thr=0.42 brk=0.00 str=-0.13 safe=1 progress=38.8% goal=144.71m dL=0.02 ttc=10.59s tl=None credit=0 reason=
[STEP] step=0680 speed= 10.78km/h thr=0.00 brk=0.32 str=-0.05 safe=0 progress=40.5% goal=140.68m dL=0.13 ttc=7.60s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.13 safe=0 progress=41.0% goal=139.50m dL=0.15 ttc=5.20s tl=None credit=0 reason=
[STEP] step=0720 speed=  7.60km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=41.2% goal=139.02m dL=0.11 ttc=4.14s tl=None credit=0 reason=
[STEP] step=0740 speed= 15.69km/h thr=0.00 brk=0.16 str=+0.03 safe=0 progress=42.8% goal=135.21m dL=0.08 ttc=3.08s tl=None credit=0 reason=
[STEP] step=0760 speed=  7.31km/h thr=0.00 brk=0.28 str=-0.15 safe=0 progress=44.1% goal=132.12m dL=0.17 ttc=1.84s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.02 safe=0 progress=44.2% goal=131.79m dL=0.17 ttc=1.29s tl=None credit=0 reason=
[STEP] step=0800 speed= 12.83km/h thr=0.53 brk=0.00 str=-0.18 safe=1 progress=44.8% goal=130.47m dL=0.11 ttc=66.91s tl=None credit=0 reason=
[STEP] step=0820 speed= 14.19km/h thr=0.12 brk=0.00 str=-0.04 safe=0 progress=46.6% goal=126.27m dL=0.17 ttc=58.35s tl=None credit=0 reason=
[STEP] step=0840 speed=  8.96km/h thr=0.00 brk=0.33 str=-0.31 safe=0 progress=48.0% goal=122.96m dL=0.46 ttc=36.76s tl=None credit=0 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.41 safe=0 progress=48.1% goal=122.55m dL=0.42 ttc=31.60s tl=None credit=0 reason=
[STEP] step=0880 speed= 12.84km/h thr=0.52 brk=0.00 str=-0.18 safe=1 progress=48.7% goal=121.22m dL=0.36 ttc=24.42s tl=None credit=0 reason=
[STEP] step=0900 speed= 13.07km/h thr=0.00 brk=0.36 str=-0.04 safe=0 progress=50.5% goal=117.05m dL=0.19 ttc=22.59s tl=None credit=0 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.19 safe=0 progress=51.3% goal=115.03m dL=0.19 ttc=24.47s tl=None credit=0 reason=
[STEP] step=0940 speed=  3.27km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=51.4% goal=114.92m dL=0.18 ttc=23.49s tl=None credit=0 reason=
[STEP] step=0960 speed= 17.30km/h thr=0.30 brk=0.00 str=+0.02 safe=0 progress=52.7% goal=111.73m dL=0.01 ttc=19.47s tl=None credit=0 reason=
[STEP] step=0980 speed= 16.23km/h thr=0.27 brk=0.00 str=-0.21 safe=0 progress=54.7% goal=107.15m dL=0.20 ttc=19.34s tl=None credit=0 reason=
[STEP] step=1000 speed= 18.30km/h thr=0.46 brk=0.00 str=+0.07 safe=0 progress=56.7% goal=102.35m dL=0.08 ttc=15.92s tl=None credit=0 reason=
[STEP] step=1020 speed= 20.57km/h thr=0.37 brk=0.00 str=-0.01 safe=0 progress=59.0% goal=96.98m dL=0.05 ttc=11.80s tl=None credit=0 reason=
[STEP] step=1040 speed= 21.38km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=61.4% goal=91.12m dL=0.04 ttc=9.33s tl=None credit=0 reason=
[STEP] step=1060 speed= 21.71km/h thr=0.35 brk=0.00 str=-0.00 safe=0 progress=64.0% goal=85.11m dL=0.04 ttc=7.61s tl=None credit=0 reason=
[STEP] step=1080 speed= 21.81km/h thr=0.35 brk=0.00 str=-0.00 safe=0 progress=66.5% goal=79.06m dL=0.06 ttc=6.33s tl=None credit=0 reason=
[STEP] step=1100 speed= 21.87km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=69.1% goal=72.98m dL=0.09 ttc=5.44s tl=None credit=0 reason=
[STEP] step=1120 speed= 22.14km/h thr=0.37 brk=0.00 str=-0.01 safe=0 progress=71.7% goal=66.86m dL=0.13 ttc=4.75s tl=None credit=0 reason=
[STEP] step=1140 speed= 25.03km/h thr=0.51 brk=0.00 str=+0.08 safe=0 progress=74.4% goal=60.43m dL=0.48 ttc=3.86s tl=None credit=0 reason=
[STEP] step=1160 speed= 10.07km/h thr=0.00 brk=0.18 str=-0.01 safe=0 progress=77.1% goal=54.13m dL=0.41 ttc=4.05s tl=None credit=0 reason=
[STEP] step=1180 speed= 14.13km/h thr=0.42 brk=0.00 str=-0.17 safe=0 progress=78.1% goal=51.67m dL=0.44 ttc=4.31s tl=None credit=0 reason=
[STEP] step=1200 speed= 18.48km/h thr=0.29 brk=0.00 str=+0.05 safe=0 progress=80.1% goal=46.97m dL=0.99 ttc=13.32s tl=None credit=0 reason=
[STEP] step=1220 speed= 19.70km/h thr=0.27 brk=0.00 str=+0.11 safe=0 progress=82.3% goal=41.71m dL=1.09 ttc=12.80s tl=None credit=0 reason=
[STEP] step=1240 speed= 17.57km/h thr=0.00 brk=0.31 str=-0.03 safe=0 progress=84.7% goal=36.15m dL=0.70 ttc=12.93s tl=None credit=0 reason=
[STEP] step=1260 speed= 14.81km/h thr=0.42 brk=0.00 str=-0.11 safe=0 progress=86.4% goal=32.11m dL=0.65 ttc=13.01s tl=None credit=0 reason=
[STEP] step=1280 speed= 18.20km/h thr=0.31 brk=0.00 str=+0.04 safe=0 progress=88.5% goal=27.27m dL=0.93 ttc=9.67s tl=None credit=0 reason=
[STEP] step=1300 speed= 18.01km/h thr=0.27 brk=0.00 str=+0.00 safe=0 progress=90.6% goal=22.24m dL=1.05 ttc=7.38s tl=None credit=0 reason=
[STEP] step=1320 speed= 18.08km/h thr=0.28 brk=0.00 str=+0.00 safe=0 progress=92.7% goal=17.21m dL=1.13 ttc=5.61s tl=None credit=0 reason=
[STEP] step=1337 speed= 18.18km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=94.5% goal=12.94m dL=1.19 ttc=4.53s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=04 R=-47.05 steps=1337 success=1 progress=94.5% DS=94.52 intv=0.224 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 195 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=13 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=75.77s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=28.15s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.58km/h thr=0.00 brk=0.24 str=-0.01 safe=0 progress=2.7% goal=230.04m dL=0.09 ttc=18.08s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.31 safe=0 progress=3.5% goal=228.06m dL=0.13 ttc=22.07s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.21km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=3.5% goal=227.96m dL=0.12 ttc=23.47s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.70km/h thr=0.30 brk=0.00 str=-0.15 safe=0 progress=4.9% goal=224.71m dL=0.03 ttc=23.37s tl=None credit=0 reason=
[STEP] step=0140 speed= 11.35km/h thr=0.00 brk=0.25 str=-0.00 safe=0 progress=6.7% goal=220.49m dL=0.07 ttc=18.70s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.29 safe=0 progress=7.3% goal=219.07m dL=0.11 ttc=13.41s tl=None credit=0 reason=
[STEP] step=0180 speed=  5.71km/h thr=0.75 brk=0.00 str=-0.12 safe=1 progress=7.4% goal=218.78m dL=0.09 ttc=11.90s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.74km/h thr=0.12 brk=0.00 str=+0.06 safe=0 progress=9.0% goal=214.99m dL=0.03 ttc=11.49s tl=None credit=0 reason=
[STEP] step=0220 speed=  9.69km/h thr=0.00 brk=0.26 str=-0.00 safe=0 progress=10.6% goal=211.17m dL=0.06 ttc=10.43s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.21 safe=0 progress=11.0% goal=210.28m dL=0.06 ttc=9.23s tl=None credit=0 reason=
[STEP] step=0260 speed=  9.31km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=11.3% goal=209.57m dL=0.04 ttc=8.54s tl=None credit=0 reason=
[STEP] step=0280 speed= 18.84km/h thr=0.49 brk=0.00 str=-0.02 safe=0 progress=13.2% goal=205.16m dL=0.01 ttc=8.67s tl=None credit=0 reason=
[STEP] step=0300 speed= 23.03km/h thr=0.45 brk=0.00 str=+0.04 safe=0 progress=15.6% goal=199.36m dL=0.03 ttc=10.72s tl=None credit=0 reason=
[STEP] step=0320 speed= 24.50km/h thr=0.19 brk=0.00 str=+0.05 safe=0 progress=18.5% goal=192.65m dL=0.02 ttc=30.75s tl=None credit=0 reason=
[STEP] step=0340 speed= 22.55km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=21.2% goal=186.17m dL=0.03 ttc=339.74s tl=None credit=0 reason=
[STEP] step=0360 speed= 20.68km/h thr=0.25 brk=0.00 str=+0.03 safe=0 progress=23.8% goal=180.17m dL=0.04 ttc=200.54s tl=None credit=0 reason=
[STEP] step=0380 speed= 20.72km/h thr=0.23 brk=0.00 str=+0.01 safe=0 progress=26.2% goal=174.47m dL=0.03 ttc=161.04s tl=None credit=0 reason=
[STEP] step=0400 speed= 17.96km/h thr=0.00 brk=0.16 str=+0.00 safe=0 progress=28.5% goal=168.95m dL=0.04 ttc=109.95s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.47km/h thr=0.42 brk=0.00 str=-0.15 safe=0 progress=30.3% goal=164.82m dL=0.05 ttc=69.97s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.41km/h thr=0.20 brk=0.00 str=-0.12 safe=0 progress=31.9% goal=160.99m dL=0.02 ttc=64.81s tl=None credit=0 reason=
[STEP] step=0460 speed= 13.43km/h thr=0.20 brk=0.00 str=-0.03 safe=0 progress=33.4% goal=157.26m dL=0.02 ttc=64.40s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.34km/h thr=0.21 brk=0.00 str=-0.08 safe=0 progress=35.0% goal=153.56m dL=0.10 ttc=59.64s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.33km/h thr=0.21 brk=0.00 str=-0.11 safe=0 progress=36.6% goal=149.86m dL=0.13 ttc=56.34s tl=None credit=0 reason=
[STEP] step=0520 speed= 13.35km/h thr=0.20 brk=0.00 str=-0.01 safe=0 progress=38.1% goal=146.16m dL=0.14 ttc=54.44s tl=None credit=0 reason=
[STEP] step=0540 speed= 13.28km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=39.7% goal=142.48m dL=0.18 ttc=50.47s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.25km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=41.3% goal=138.82m dL=0.18 ttc=46.74s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=42.8% goal=135.14m dL=0.21 ttc=40.26s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=44.4% goal=131.48m dL=0.23 ttc=37.40s tl=None credit=0 reason=
[STEP] step=0620 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.09 safe=0 progress=45.9% goal=127.81m dL=0.25 ttc=32.42s tl=None credit=0 reason=
[STEP] step=0640 speed= 13.26km/h thr=0.20 brk=0.00 str=-0.08 safe=0 progress=47.5% goal=124.15m dL=0.27 ttc=26.55s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.25km/h thr=0.20 brk=0.00 str=-0.08 safe=0 progress=49.0% goal=120.49m dL=0.28 ttc=20.99s tl=None credit=0 reason=
[STEP] step=0680 speed= 13.83km/h thr=0.18 brk=0.00 str=-0.11 safe=0 progress=50.6% goal=116.79m dL=0.31 ttc=16.31s tl=None credit=0 reason=
[STEP] step=0700 speed= 15.96km/h thr=0.36 brk=0.00 str=-0.07 safe=0 progress=52.3% goal=112.74m dL=0.30 ttc=12.98s tl=None credit=0 reason=
[STEP] step=0720 speed= 16.16km/h thr=0.19 brk=0.00 str=-0.16 safe=0 progress=54.2% goal=108.28m dL=0.31 ttc=10.71s tl=None credit=0 reason=
[STEP] step=0740 speed= 18.23km/h thr=0.46 brk=0.00 str=+0.02 safe=0 progress=56.1% goal=103.68m dL=0.04 ttc=8.83s tl=None credit=0 reason=
[STEP] step=0760 speed= 20.27km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=58.4% goal=98.32m dL=0.04 ttc=7.40s tl=None credit=0 reason=
[STEP] step=0780 speed= 21.17km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=60.9% goal=92.49m dL=0.03 ttc=6.38s tl=None credit=0 reason=
[STEP] step=0800 speed= 21.92km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=63.4% goal=86.45m dL=0.03 ttc=5.42s tl=None credit=0 reason=
[STEP] step=0820 speed= 22.47km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=66.0% goal=80.24m dL=0.03 ttc=4.44s tl=None credit=0 reason=
[STEP] step=0840 speed= 22.74km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=68.7% goal=73.91m dL=0.04 ttc=3.64s tl=None credit=0 reason=
[STEP] step=0860 speed= 22.51km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=71.4% goal=67.57m dL=0.06 ttc=3.17s tl=None credit=0 reason=
[STEP] step=0880 speed= 20.01km/h thr=0.12 brk=0.00 str=-0.04 safe=0 progress=74.0% goal=61.52m dL=0.46 ttc=4.29s tl=None credit=0 reason=
[STEP] step=0900 speed= 18.29km/h thr=0.36 brk=0.00 str=+0.08 safe=0 progress=76.1% goal=56.39m dL=0.79 ttc=32.57s tl=None credit=0 reason=
[STEP] step=0920 speed= 19.93km/h thr=0.41 brk=0.00 str=+0.02 safe=0 progress=78.4% goal=51.14m dL=0.74 ttc=71.12s tl=None credit=0 reason=
[STEP] step=0940 speed= 15.86km/h thr=0.00 brk=0.21 str=-0.03 safe=0 progress=80.6% goal=45.77m dL=0.42 ttc=77.74s tl=None credit=0 reason=
[STEP] step=0960 speed= 17.42km/h thr=0.40 brk=0.00 str=-0.06 safe=0 progress=82.4% goal=41.52m dL=0.55 ttc=31.89s tl=None credit=0 reason=
[STEP] step=0980 speed= 17.88km/h thr=0.22 brk=0.00 str=-0.03 safe=0 progress=84.5% goal=36.51m dL=0.71 ttc=22.94s tl=None credit=0 reason=
[STEP] step=1000 speed= 17.98km/h thr=0.22 brk=0.00 str=-0.04 safe=0 progress=86.7% goal=31.50m dL=0.75 ttc=24.89s tl=None credit=0 reason=
[STEP] step=1020 speed= 18.03km/h thr=0.27 brk=0.00 str=-0.04 safe=0 progress=88.8% goal=26.51m dL=0.87 ttc=27.80s tl=None credit=0 reason=
[STEP] step=1040 speed= 18.01km/h thr=0.27 brk=0.00 str=-0.03 safe=0 progress=90.9% goal=21.51m dL=0.96 ttc=31.72s tl=None credit=0 reason=
[STEP] step=1060 speed= 18.04km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=93.0% goal=16.52m dL=1.05 ttc=35.88s tl=None credit=0 reason=
[STEP] step=1075 speed= 18.07km/h thr=0.28 brk=0.00 str=+0.00 safe=0 progress=94.6% goal=12.77m dL=1.12 ttc=38.75s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=05 R=-95.64 steps=1075 success=1 progress=94.6% DS=94.60 intv=0.093 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 210 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=9 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=85.74s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=206.86s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.45km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=2.6% goal=230.04m dL=0.05 ttc=38.16s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.15 safe=0 progress=3.4% goal=228.18m dL=0.07 ttc=12.84s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.02km/h thr=0.75 brk=0.00 str=-0.10 safe=1 progress=3.5% goal=228.03m dL=0.07 ttc=13.25s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.77km/h thr=0.24 brk=0.00 str=-0.08 safe=0 progress=5.0% goal=224.57m dL=0.01 ttc=27.35s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.44km/h thr=0.00 brk=0.28 str=-0.01 safe=0 progress=6.7% goal=220.53m dL=0.03 ttc=33.23s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.17 safe=0 progress=7.1% goal=219.41m dL=0.03 ttc=20.66s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.67km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=7.4% goal=218.93m dL=0.02 ttc=27.22s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.21km/h thr=0.00 brk=0.16 str=+0.02 safe=0 progress=9.1% goal=214.83m dL=0.03 ttc=33.97s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.63km/h thr=0.00 brk=0.29 str=+0.00 safe=0 progress=10.6% goal=211.28m dL=0.03 ttc=27.93s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.14 safe=0 progress=10.8% goal=210.75m dL=0.03 ttc=23.08s tl=None credit=0 reason=
[STEP] step=0260 speed= 12.09km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=11.3% goal=209.59m dL=0.02 ttc=32.33s tl=None credit=0 reason=
[STEP] step=0280 speed= 14.95km/h thr=0.00 brk=0.23 str=-0.02 safe=0 progress=13.2% goal=205.08m dL=0.03 ttc=36.85s tl=None credit=0 reason=
[STEP] step=0300 speed=  6.93km/h thr=0.00 brk=0.34 str=+0.01 safe=0 progress=14.5% goal=202.07m dL=0.02 ttc=28.60s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.08km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=14.5% goal=201.95m dL=0.02 ttc=28.54s tl=None credit=0 reason=
[STEP] step=0340 speed= 15.60km/h thr=0.53 brk=0.00 str=+0.00 safe=1 progress=15.4% goal=200.00m dL=0.01 ttc=21.19s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.37km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=17.3% goal=195.44m dL=0.03 ttc=20.26s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.13 safe=0 progress=18.3% goal=193.12m dL=0.01 ttc=18.43s tl=None credit=0 reason=
[STEP] step=0400 speed=  1.55km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=18.3% goal=193.09m dL=0.01 ttc=17.57s tl=None credit=0 reason=
[STEP] step=0420 speed= 17.23km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=19.5% goal=190.26m dL=0.01 ttc=18.21s tl=None credit=0 reason=
[STEP] step=0440 speed= 11.76km/h thr=0.00 brk=0.24 str=+0.01 safe=0 progress=21.3% goal=185.94m dL=0.02 ttc=17.42s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.12 safe=0 progress=22.0% goal=184.33m dL=0.00 ttc=18.06s tl=None credit=0 reason=
[STEP] step=0480 speed=  4.93km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=22.1% goal=184.12m dL=0.01 ttc=21.26s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.88km/h thr=0.18 brk=0.00 str=+0.03 safe=0 progress=23.6% goal=180.47m dL=0.02 ttc=46.66s tl=None credit=0 reason=
[STEP] step=0520 speed= 10.36km/h thr=0.00 brk=0.25 str=-0.03 safe=0 progress=25.3% goal=176.51m dL=0.01 ttc=44.15s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.20 safe=0 progress=25.8% goal=175.37m dL=0.00 ttc=61.66s tl=None credit=0 reason=
[STEP] step=0560 speed=  7.66km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=26.0% goal=174.88m dL=0.00 ttc=83.05s tl=None credit=0 reason=
[STEP] step=0580 speed= 16.34km/h thr=0.00 brk=0.16 str=+0.04 safe=0 progress=27.7% goal=170.95m dL=0.04 ttc=147.14s tl=None credit=0 reason=
[STEP] step=0600 speed=  7.52km/h thr=0.00 brk=0.35 str=-0.03 safe=0 progress=29.0% goal=167.68m dL=0.17 ttc=59.39s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.22 safe=0 progress=29.1% goal=167.43m dL=0.18 ttc=37.57s tl=None credit=0 reason=
[STEP] step=0640 speed= 13.51km/h thr=0.44 brk=0.00 str=-0.07 safe=1 progress=29.8% goal=165.91m dL=0.09 ttc=57.13s tl=None credit=0 reason=
[STEP] step=0660 speed= 12.57km/h thr=0.00 brk=0.31 str=-0.04 safe=0 progress=31.5% goal=161.75m dL=0.11 ttc=65.90s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.14 safe=0 progress=32.3% goal=159.92m dL=0.15 ttc=43.34s tl=None credit=0 reason=
[STEP] step=0700 speed=  4.03km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=32.4% goal=159.77m dL=0.14 ttc=52.03s tl=None credit=0 reason=
[STEP] step=0720 speed= 16.31km/h thr=0.24 brk=0.00 str=-0.09 safe=0 progress=33.8% goal=156.52m dL=0.03 ttc=103.83s tl=None credit=0 reason=
[STEP] step=0740 speed=  8.71km/h thr=0.00 brk=0.36 str=-0.16 safe=0 progress=35.3% goal=152.92m dL=0.16 ttc=58.80s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.18 safe=0 progress=35.5% goal=152.39m dL=0.15 ttc=30.36s tl=None credit=0 reason=
[STEP] step=0780 speed= 12.06km/h thr=0.66 brk=0.00 str=-0.18 safe=1 progress=36.0% goal=151.23m dL=0.08 ttc=28.50s tl=None credit=0 reason=
[STEP] step=0800 speed= 13.43km/h thr=0.00 brk=0.31 str=-0.05 safe=0 progress=37.8% goal=147.09m dL=0.11 ttc=22.83s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.22 safe=0 progress=38.7% goal=144.91m dL=0.17 ttc=15.39s tl=None credit=0 reason=
[STEP] step=0840 speed=  2.29km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=38.7% goal=144.85m dL=0.17 ttc=14.22s tl=None credit=0 reason=
[STEP] step=0860 speed= 15.95km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=39.9% goal=141.96m dL=0.01 ttc=16.30s tl=None credit=0 reason=
[STEP] step=0880 speed=  9.41km/h thr=0.00 brk=0.33 str=-0.14 safe=0 progress=41.5% goal=138.19m dL=0.14 ttc=13.02s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.21 safe=0 progress=41.8% goal=137.42m dL=0.15 ttc=10.04s tl=None credit=0 reason=
[STEP] step=0920 speed= 10.25km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=42.2% goal=136.58m dL=0.09 ttc=11.51s tl=None credit=0 reason=
[STEP] step=0940 speed= 14.39km/h thr=0.00 brk=0.40 str=-0.09 safe=0 progress=43.9% goal=132.51m dL=0.11 ttc=11.38s tl=None credit=0 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.15 safe=0 progress=45.0% goal=130.03m dL=0.15 ttc=7.13s tl=None credit=0 reason=
[STEP] step=0980 speed=  0.78km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=45.0% goal=130.01m dL=0.15 ttc=5.71s tl=None credit=0 reason=
[STEP] step=1000 speed= 15.25km/h thr=0.42 brk=0.00 str=+0.09 safe=1 progress=46.0% goal=127.52m dL=0.02 ttc=5.33s tl=None credit=0 reason=
[STEP] step=1020 speed= 10.18km/h thr=0.00 brk=0.35 str=-0.07 safe=0 progress=47.7% goal=123.60m dL=0.18 ttc=3.90s tl=None credit=0 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.18 safe=0 progress=48.1% goal=122.65m dL=0.16 ttc=2.58s tl=None credit=0 reason=
[STEP] step=1060 speed=  9.34km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=48.4% goal=121.94m dL=0.13 ttc=2.43s tl=None credit=0 reason=
[STEP] step=1080 speed= 15.27km/h thr=0.00 brk=0.09 str=-0.02 safe=0 progress=50.1% goal=117.94m dL=0.12 ttc=7.87s tl=None credit=0 reason=
[STEP] step=1100 speed= 10.17km/h thr=0.12 brk=0.00 str=-0.07 safe=0 progress=51.5% goal=114.54m dL=0.46 ttc=26.73s tl=None credit=0 reason=
[STEP] step=1120 speed= 13.26km/h thr=0.48 brk=0.00 str=-0.14 safe=0 progress=52.7% goal=111.67m dL=0.33 ttc=23.06s tl=None credit=0 reason=
[STEP] step=1140 speed= 20.72km/h thr=0.20 brk=0.00 str=+0.19 safe=0 progress=54.8% goal=106.72m dL=0.38 ttc=23.35s tl=None credit=0 reason=
[STEP] step=1160 speed= 18.83km/h thr=0.47 brk=0.00 str=-0.03 safe=0 progress=57.1% goal=101.33m dL=0.12 ttc=24.78s tl=None credit=0 reason=
[STEP] step=1180 speed= 21.15km/h thr=0.38 brk=0.00 str=-0.01 safe=0 progress=59.5% goal=95.75m dL=0.06 ttc=26.31s tl=None credit=0 reason=
[STEP] step=1200 speed= 21.89km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=62.0% goal=89.74m dL=0.05 ttc=29.15s tl=None credit=0 reason=
[STEP] step=1220 speed= 22.16km/h thr=0.35 brk=0.00 str=+0.00 safe=0 progress=64.6% goal=83.61m dL=0.06 ttc=27.27s tl=None credit=0 reason=
[STEP] step=1240 speed= 22.23km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=67.2% goal=77.43m dL=0.08 ttc=29.42s tl=None credit=0 reason=
[STEP] step=1260 speed= 22.50km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=69.9% goal=71.21m dL=0.11 ttc=29.63s tl=None credit=0 reason=
[STEP] step=1280 speed= 23.35km/h thr=0.44 brk=0.00 str=-0.02 safe=0 progress=72.5% goal=64.87m dL=0.23 ttc=26.87s tl=None credit=0 reason=
[STEP] step=1300 speed= 23.37km/h thr=0.31 brk=0.00 str=-0.02 safe=0 progress=75.3% goal=58.25m dL=0.17 ttc=30.34s tl=None credit=0 reason=
[STEP] step=1320 speed= 22.23km/h thr=0.11 brk=0.00 str=+0.02 safe=0 progress=78.0% goal=51.88m dL=0.33 ttc=31.48s tl=None credit=0 reason=
[STEP] step=1340 speed= 17.84km/h thr=0.22 brk=0.00 str=-0.03 safe=0 progress=80.3% goal=46.63m dL=0.47 ttc=20.31s tl=None credit=0 reason=
[STEP] step=1360 speed= 18.00km/h thr=0.27 brk=0.00 str=-0.02 safe=0 progress=82.4% goal=41.66m dL=0.65 ttc=35.89s tl=None credit=0 reason=
[STEP] step=1380 speed= 18.05km/h thr=0.25 brk=0.00 str=-0.02 safe=0 progress=84.5% goal=36.66m dL=0.79 ttc=63.60s tl=None credit=0 reason=
[STEP] step=1400 speed= 18.02km/h thr=0.28 brk=0.00 str=+0.02 safe=0 progress=86.6% goal=31.65m dL=0.90 ttc=68.21s tl=None credit=0 reason=
[STEP] step=1420 speed= 18.13km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=88.7% goal=26.65m dL=1.00 ttc=68.02s tl=None credit=0 reason=
[STEP] step=1440 speed= 18.09km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=90.8% goal=21.64m dL=1.10 ttc=70.79s tl=None credit=0 reason=
[STEP] step=1460 speed= 18.15km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=93.0% goal=16.61m dL=1.18 ttc=72.83s tl=None credit=0 reason=
[STEP] step=1475 speed= 18.10km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=94.6% goal=12.84m dL=1.23 ttc=75.36s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=06 R=-4.15 steps=1475 success=1 progress=94.6% DS=94.56 intv=0.254 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 221 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=9 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=78.42s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=84.60s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.36km/h thr=0.00 brk=0.27 str=-0.02 safe=0 progress=2.6% goal=230.05m dL=0.06 ttc=29.13s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.17 safe=0 progress=3.4% goal=228.25m dL=0.08 ttc=17.65s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.99km/h thr=0.75 brk=0.00 str=-0.12 safe=1 progress=3.5% goal=228.10m dL=0.08 ttc=22.97s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.76km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=4.9% goal=224.65m dL=0.00 ttc=80.82s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.43km/h thr=0.00 brk=0.28 str=-0.01 safe=0 progress=6.6% goal=220.61m dL=0.03 ttc=52.69s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.18 safe=0 progress=7.1% goal=219.52m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed=  8.45km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=7.3% goal=218.93m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.78km/h thr=0.00 brk=0.24 str=+0.01 safe=0 progress=9.1% goal=214.72m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.15km/h thr=0.00 brk=0.39 str=-0.02 safe=0 progress=10.6% goal=211.30m dL=0.03 ttc=174.67s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.11 safe=0 progress=10.8% goal=210.85m dL=0.02 ttc=120.58s tl=None credit=0 reason=
[STEP] step=0260 speed= 12.17km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=11.3% goal=209.68m dL=0.02 ttc=405.38s tl=None credit=0 reason=
[STEP] step=0280 speed= 14.99km/h thr=0.00 brk=0.22 str=-0.02 safe=0 progress=13.2% goal=205.16m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.04km/h thr=0.00 brk=0.39 str=-0.02 safe=0 progress=14.5% goal=202.14m dL=0.02 ttc=310.56s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.08km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=14.5% goal=202.04m dL=0.02 ttc=142.46s tl=None credit=0 reason=
[STEP] step=0340 speed= 15.59km/h thr=0.53 brk=0.00 str=+0.00 safe=1 progress=15.3% goal=200.08m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.38km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=17.3% goal=195.52m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.14 safe=0 progress=18.3% goal=193.13m dL=0.01 ttc=146.11s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.79km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=18.3% goal=193.12m dL=0.01 ttc=89.06s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.91km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=19.4% goal=190.50m dL=0.01 ttc=280.37s tl=None credit=0 reason=
[STEP] step=0440 speed= 12.17km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=21.2% goal=186.11m dL=0.02 ttc=173.29s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.19 safe=0 progress=22.0% goal=184.31m dL=0.00 ttc=100.59s tl=None credit=0 reason=
[STEP] step=0480 speed=  4.11km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=22.1% goal=184.15m dL=0.00 ttc=128.94s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.84km/h thr=0.24 brk=0.00 str=+0.04 safe=0 progress=23.5% goal=180.70m dL=0.01 ttc=403.59s tl=None credit=0 reason=
[STEP] step=0520 speed= 10.73km/h thr=0.00 brk=0.17 str=+0.03 safe=0 progress=25.2% goal=176.64m dL=0.01 ttc=185.01s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.11 safe=0 progress=25.8% goal=175.38m dL=0.00 ttc=88.31s tl=None credit=0 reason=
[STEP] step=0560 speed=  6.72km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=25.9% goal=175.01m dL=0.00 ttc=60.19s tl=None credit=0 reason=
[STEP] step=0580 speed= 16.55km/h thr=0.00 brk=0.08 str=+0.03 safe=0 progress=27.5% goal=171.21m dL=0.04 ttc=50.59s tl=None credit=0 reason=
[STEP] step=0600 speed=  7.81km/h thr=0.00 brk=0.34 str=-0.01 safe=0 progress=29.0% goal=167.85m dL=0.16 ttc=36.74s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.21 safe=0 progress=29.1% goal=167.49m dL=0.18 ttc=36.37s tl=None credit=0 reason=
[STEP] step=0640 speed= 12.87km/h thr=0.54 brk=0.00 str=-0.02 safe=1 progress=29.7% goal=166.16m dL=0.09 ttc=48.71s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.06km/h thr=0.00 brk=0.30 str=-0.06 safe=0 progress=31.4% goal=161.99m dL=0.10 ttc=59.84s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.14 safe=0 progress=32.3% goal=159.96m dL=0.15 ttc=59.05s tl=None credit=0 reason=
[STEP] step=0700 speed=  3.20km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=32.3% goal=159.86m dL=0.15 ttc=69.81s tl=None credit=0 reason=
[STEP] step=0720 speed= 16.28km/h thr=0.30 brk=0.00 str=-0.02 safe=0 progress=33.7% goal=156.77m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed=  9.20km/h thr=0.00 brk=0.33 str=-0.13 safe=0 progress=35.2% goal=153.04m dL=0.15 ttc=690.21s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.17 safe=0 progress=35.5% goal=152.37m dL=0.14 ttc=178.11s tl=None credit=0 reason=
[STEP] step=0780 speed= 11.34km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=35.9% goal=151.36m dL=0.09 ttc=34.06s tl=None credit=0 reason=
[STEP] step=0800 speed= 13.92km/h thr=0.00 brk=0.32 str=-0.05 safe=0 progress=37.7% goal=147.24m dL=0.10 ttc=26.97s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.21 safe=0 progress=38.7% goal=144.85m dL=0.17 ttc=28.12s tl=None credit=0 reason=
[STEP] step=0840 speed=  1.55km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=38.7% goal=144.82m dL=0.17 ttc=27.16s tl=None credit=0 reason=
[STEP] step=0860 speed= 15.68km/h thr=0.42 brk=0.00 str=-0.10 safe=1 progress=39.9% goal=142.12m dL=0.00 ttc=22.96s tl=None credit=0 reason=
[STEP] step=0880 speed=  9.83km/h thr=0.00 brk=0.33 str=-0.06 safe=0 progress=41.5% goal=138.26m dL=0.13 ttc=24.03s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.21 safe=0 progress=41.9% goal=137.35m dL=0.14 ttc=25.17s tl=None credit=0 reason=
[STEP] step=0920 speed=  9.32km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=42.2% goal=136.64m dL=0.09 ttc=22.01s tl=None credit=0 reason=
[STEP] step=0940 speed= 14.81km/h thr=0.00 brk=0.32 str=-0.01 safe=0 progress=43.9% goal=132.65m dL=0.09 ttc=21.34s tl=None credit=0 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.16 safe=0 progress=45.0% goal=130.01m dL=0.15 ttc=25.35s tl=None credit=0 reason=
[STEP] step=0980 speed=  0.93km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=45.0% goal=130.00m dL=0.15 ttc=27.71s tl=None credit=0 reason=
[STEP] step=1000 speed= 15.24km/h thr=0.42 brk=0.00 str=+0.09 safe=1 progress=46.0% goal=127.50m dL=0.02 ttc=26.30s tl=None credit=0 reason=
[STEP] step=1020 speed= 10.18km/h thr=0.00 brk=0.34 str=-0.07 safe=0 progress=47.7% goal=123.58m dL=0.18 ttc=29.35s tl=None credit=0 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.17 safe=0 progress=48.1% goal=122.63m dL=0.16 ttc=23.01s tl=None credit=0 reason=
[STEP] step=1060 speed=  9.31km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=48.4% goal=121.92m dL=0.13 ttc=25.79s tl=None credit=0 reason=
[STEP] step=1080 speed= 14.80km/h thr=0.00 brk=0.32 str=-0.05 safe=0 progress=50.1% goal=117.93m dL=0.11 ttc=27.74s tl=None credit=0 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.19 safe=0 progress=51.2% goal=115.33m dL=0.16 ttc=21.06s tl=None credit=0 reason=
[STEP] step=1120 speed=  0.92km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=51.2% goal=115.32m dL=0.16 ttc=22.55s tl=None credit=0 reason=
[STEP] step=1140 speed= 16.38km/h thr=0.42 brk=0.00 str=-0.14 safe=1 progress=52.3% goal=112.75m dL=0.04 ttc=31.17s tl=None credit=0 reason=
[STEP] step=1160 speed= 15.97km/h thr=0.33 brk=0.00 str=-0.10 safe=0 progress=54.2% goal=108.14m dL=0.22 ttc=37.61s tl=None credit=0 reason=
[STEP] step=1180 speed= 18.11km/h thr=0.44 brk=0.00 str=-0.09 safe=0 progress=56.2% goal=103.61m dL=0.07 ttc=77.43s tl=None credit=0 reason=
[STEP] step=1200 speed= 23.22km/h thr=0.27 brk=0.00 str=+0.11 safe=0 progress=58.6% goal=97.93m dL=0.33 ttc=61.04s tl=None credit=0 reason=
[STEP] step=1220 speed= 22.70km/h thr=0.37 brk=0.00 str=-0.01 safe=0 progress=61.2% goal=91.64m dL=0.13 ttc=59.71s tl=None credit=0 reason=
[STEP] step=1240 speed= 23.37km/h thr=0.35 brk=0.00 str=-0.02 safe=0 progress=63.9% goal=85.26m dL=0.04 ttc=50.32s tl=None credit=0 reason=
[STEP] step=1260 speed= 23.38km/h thr=0.33 brk=0.00 str=-0.01 safe=0 progress=66.7% goal=78.79m dL=0.05 ttc=46.56s tl=None credit=0 reason=
[STEP] step=1280 speed= 22.96km/h thr=0.33 brk=0.00 str=-0.02 safe=0 progress=69.4% goal=72.39m dL=0.07 ttc=45.90s tl=None credit=0 reason=
[STEP] step=1300 speed= 22.93km/h thr=0.35 brk=0.00 str=-0.04 safe=0 progress=72.0% goal=66.07m dL=0.13 ttc=56.54s tl=None credit=0 reason=
[STEP] step=1320 speed= 23.83km/h thr=0.00 brk=0.08 str=+0.02 safe=0 progress=74.8% goal=59.55m dL=0.29 ttc=49.84s tl=None credit=0 reason=
[STEP] step=1340 speed= 17.05km/h thr=0.54 brk=0.00 str=-0.05 safe=0 progress=77.0% goal=54.35m dL=0.37 ttc=46.19s tl=None credit=0 reason=
[STEP] step=1360 speed= 18.54km/h thr=0.23 brk=0.00 str=-0.00 safe=0 progress=79.1% goal=49.28m dL=0.60 ttc=60.45s tl=None credit=0 reason=
[STEP] step=1380 speed= 16.66km/h thr=0.14 brk=0.00 str=-0.03 safe=0 progress=81.2% goal=44.34m dL=0.56 ttc=61.02s tl=None credit=0 reason=
[STEP] step=1400 speed= 17.86km/h thr=0.39 brk=0.00 str=+0.02 safe=0 progress=83.2% goal=39.79m dL=0.69 ttc=54.08s tl=None credit=0 reason=
[STEP] step=1420 speed= 18.12km/h thr=0.26 brk=0.00 str=+0.01 safe=0 progress=85.3% goal=34.77m dL=0.83 ttc=66.98s tl=None credit=0 reason=
[STEP] step=1440 speed= 17.97km/h thr=0.28 brk=0.00 str=+0.02 safe=0 progress=87.4% goal=29.76m dL=0.93 ttc=114.99s tl=None credit=0 reason=
[STEP] step=1460 speed= 17.92km/h thr=0.28 brk=0.00 str=+0.00 safe=0 progress=89.5% goal=24.76m dL=1.02 ttc=293.57s tl=None credit=0 reason=
[STEP] step=1480 speed= 17.87km/h thr=0.29 brk=0.00 str=+0.02 safe=0 progress=91.6% goal=19.74m dL=1.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1500 speed= 18.16km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=93.8% goal=14.72m dL=1.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1508 speed= 17.98km/h thr=0.30 brk=0.00 str=-0.00 safe=0 progress=94.6% goal=12.71m dL=1.23 ttc=999.00s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=07 R=18.78 steps=1508 success=1 progress=94.6% DS=94.62 intv=0.265 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 232 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=13 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=64.10s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=+0.00 safe=1 progress=0.7% goal=234.68m dL=0.00 ttc=24.38s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.19km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=2.5% goal=230.34m dL=0.08 ttc=21.31s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.18 safe=0 progress=3.2% goal=228.63m dL=0.11 ttc=20.12s tl=None credit=0 reason=
[STEP] step=0100 speed=  5.00km/h thr=0.75 brk=0.00 str=-0.15 safe=1 progress=3.3% goal=228.41m dL=0.10 ttc=24.53s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.80km/h thr=0.18 brk=0.00 str=-0.04 safe=0 progress=4.9% goal=224.77m dL=0.02 ttc=61.16s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.38km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=6.6% goal=220.76m dL=0.04 ttc=150.47s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.15 safe=0 progress=7.0% goal=219.66m dL=0.06 ttc=96.36s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.56km/h thr=0.75 brk=0.00 str=-0.05 safe=1 progress=7.2% goal=219.19m dL=0.04 ttc=190.58s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.28km/h thr=0.00 brk=0.15 str=+0.04 safe=0 progress=9.0% goal=215.09m dL=0.03 ttc=136.97s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.72km/h thr=0.00 brk=0.36 str=+0.00 safe=0 progress=10.5% goal=211.52m dL=0.04 ttc=271.07s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.11 safe=0 progress=10.7% goal=210.93m dL=0.03 ttc=579.58s tl=None credit=0 reason=
[STEP] step=0260 speed= 11.26km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=11.2% goal=209.93m dL=0.02 ttc=220.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.39km/h thr=0.00 brk=0.17 str=-0.06 safe=0 progress=13.1% goal=205.46m dL=0.02 ttc=162.15s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.47km/h thr=0.00 brk=0.38 str=-0.01 safe=0 progress=14.4% goal=202.32m dL=0.02 ttc=118.40s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.12 safe=0 progress=14.5% goal=202.08m dL=0.02 ttc=53.36s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=15.1% goal=200.55m dL=0.01 ttc=90.76s tl=None credit=0 reason=
[STEP] step=0360 speed= 14.23km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=17.1% goal=195.95m dL=0.02 ttc=72.54s tl=None credit=0 reason=
[STEP] step=0380 speed=  2.85km/h thr=0.00 brk=0.42 str=-0.07 safe=0 progress=18.3% goal=193.16m dL=0.01 ttc=38.86s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.07km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=18.3% goal=193.15m dL=0.01 ttc=27.21s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.09km/h thr=0.44 brk=0.00 str=+0.00 safe=1 progress=19.2% goal=190.98m dL=0.01 ttc=20.15s tl=None credit=0 reason=
[STEP] step=0440 speed= 12.99km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=21.1% goal=186.47m dL=0.02 ttc=25.82s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.13 safe=0 progress=22.0% goal=184.34m dL=0.00 ttc=21.54s tl=None credit=0 reason=
[STEP] step=0480 speed=  2.26km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=22.0% goal=184.28m dL=0.00 ttc=28.91s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.51km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=23.3% goal=181.22m dL=0.01 ttc=124.24s tl=None credit=0 reason=
[STEP] step=0520 speed= 11.44km/h thr=0.00 brk=0.20 str=-0.01 safe=0 progress=25.1% goal=176.98m dL=0.01 ttc=85.21s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.13 safe=0 progress=25.8% goal=175.39m dL=0.00 ttc=37.91s tl=None credit=0 reason=
[STEP] step=0560 speed=  4.93km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=25.9% goal=175.17m dL=0.00 ttc=55.75s tl=None credit=0 reason=
[STEP] step=0580 speed= 16.77km/h thr=0.18 brk=0.00 str=+0.03 safe=0 progress=27.3% goal=171.67m dL=0.02 ttc=278.15s tl=None credit=0 reason=
[STEP] step=0600 speed=  8.62km/h thr=0.00 brk=0.34 str=+0.01 safe=0 progress=28.9% goal=168.08m dL=0.15 ttc=88.99s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.19 safe=0 progress=29.1% goal=167.52m dL=0.17 ttc=36.13s tl=None credit=0 reason=
[STEP] step=0640 speed= 11.19km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=29.5% goal=166.52m dL=0.10 ttc=35.07s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.99km/h thr=0.00 brk=0.30 str=+0.00 safe=0 progress=31.3% goal=162.38m dL=0.06 ttc=47.21s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.13 safe=0 progress=32.3% goal=159.96m dL=0.13 ttc=34.99s tl=None credit=0 reason=
[STEP] step=0700 speed=  1.76km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=32.3% goal=159.92m dL=0.13 ttc=32.87s tl=None credit=0 reason=
[STEP] step=0720 speed= 15.59km/h thr=0.42 brk=0.00 str=-0.02 safe=1 progress=33.5% goal=157.21m dL=0.01 ttc=35.34s tl=None credit=0 reason=
[STEP] step=0740 speed=  9.88km/h thr=0.00 brk=0.32 str=-0.04 safe=0 progress=35.1% goal=153.37m dL=0.14 ttc=39.75s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.16 safe=0 progress=35.5% goal=152.47m dL=0.13 ttc=32.81s tl=None credit=0 reason=
[STEP] step=0780 speed=  9.31km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=35.8% goal=151.75m dL=0.10 ttc=50.86s tl=None credit=0 reason=
[STEP] step=0800 speed= 14.98km/h thr=0.00 brk=0.32 str=-0.04 safe=0 progress=37.5% goal=147.74m dL=0.05 ttc=59.32s tl=None credit=0 reason=
[STEP] step=0820 speed=  1.26km/h thr=0.00 brk=0.38 str=-0.10 safe=0 progress=38.7% goal=144.89m dL=0.15 ttc=34.05s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=38.7% goal=144.88m dL=0.15 ttc=30.97s tl=None credit=0 reason=
[STEP] step=0860 speed= 14.70km/h thr=0.42 brk=0.00 str=-0.14 safe=1 progress=39.6% goal=142.79m dL=0.04 ttc=15.47s tl=None credit=0 reason=
[STEP] step=0880 speed= 11.13km/h thr=0.00 brk=0.34 str=-0.05 safe=0 progress=41.3% goal=138.74m dL=0.10 ttc=15.04s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.20 safe=0 progress=41.9% goal=137.41m dL=0.14 ttc=17.42s tl=None credit=0 reason=
[STEP] step=0920 speed=  6.63km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=42.0% goal=137.03m dL=0.12 ttc=14.10s tl=None credit=0 reason=
[STEP] step=0940 speed= 15.99km/h thr=0.00 brk=0.08 str=-0.05 safe=0 progress=43.6% goal=133.35m dL=0.06 ttc=10.91s tl=None credit=0 reason=
[STEP] step=0960 speed=  7.16km/h thr=0.00 brk=0.37 str=-0.11 safe=0 progress=44.9% goal=130.17m dL=0.15 ttc=13.22s tl=None credit=0 reason=
[STEP] step=0980 speed=  0.08km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=45.0% goal=130.05m dL=0.14 ttc=18.45s tl=None credit=0 reason=
[STEP] step=1000 speed= 14.38km/h thr=0.42 brk=0.00 str=-0.12 safe=1 progress=45.8% goal=128.14m dL=0.02 ttc=13.46s tl=None credit=0 reason=
[STEP] step=1020 speed= 11.46km/h thr=0.00 brk=0.34 str=-0.06 safe=0 progress=47.5% goal=124.07m dL=0.15 ttc=19.86s tl=None credit=0 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.16 safe=0 progress=48.1% goal=122.67m dL=0.15 ttc=23.66s tl=None credit=0 reason=
[STEP] step=1060 speed=  6.73km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=48.2% goal=122.30m dL=0.13 ttc=19.93s tl=None credit=0 reason=
[STEP] step=1080 speed= 16.12km/h thr=0.00 brk=0.08 str=-0.00 safe=0 progress=49.8% goal=118.59m dL=0.08 ttc=10.82s tl=None credit=0 reason=
[STEP] step=1100 speed=  7.28km/h thr=0.00 brk=0.38 str=-0.14 safe=0 progress=51.2% goal=115.37m dL=0.16 ttc=15.08s tl=None credit=0 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.18 safe=0 progress=51.2% goal=115.23m dL=0.16 ttc=19.49s tl=None credit=0 reason=
[STEP] step=1140 speed= 14.53km/h thr=0.60 brk=0.00 str=+0.08 safe=1 progress=52.0% goal=113.51m dL=0.04 ttc=9.96s tl=None credit=0 reason=
[STEP] step=1160 speed= 16.06km/h thr=0.20 brk=0.00 str=-0.06 safe=0 progress=53.9% goal=108.92m dL=0.17 ttc=5.48s tl=None credit=0 reason=
[STEP] step=1180 speed= 15.90km/h thr=0.31 brk=0.00 str=-0.14 safe=0 progress=55.8% goal=104.48m dL=0.09 ttc=4.18s tl=None credit=0 reason=
[STEP] step=1200 speed= 11.99km/h thr=0.12 brk=0.00 str=+0.04 safe=0 progress=57.5% goal=100.32m dL=0.03 ttc=3.60s tl=None credit=0 reason=
[STEP] step=1220 speed= 16.84km/h thr=0.42 brk=0.00 str=+0.05 safe=0 progress=59.2% goal=96.50m dL=0.08 ttc=2.38s tl=None credit=0 reason=
[STEP] step=1240 speed= 16.08km/h thr=0.42 brk=0.00 str=-0.04 safe=0 progress=61.1% goal=91.92m dL=0.04 ttc=1.71s tl=None credit=0 reason=
[STEP] step=1260 speed= 16.45km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=63.0% goal=87.33m dL=0.02 ttc=4.54s tl=None credit=0 reason=
[STEP] step=1280 speed= 18.26km/h thr=0.31 brk=0.00 str=+0.00 safe=0 progress=65.1% goal=82.50m dL=0.04 ttc=3.86s tl=None credit=0 reason=
[STEP] step=1300 speed= 18.39km/h thr=0.32 brk=0.00 str=-0.08 safe=0 progress=67.2% goal=77.41m dL=0.01 ttc=3.74s tl=None credit=0 reason=
[STEP] step=1320 speed= 20.01km/h thr=0.48 brk=0.00 str=+0.04 safe=0 progress=69.5% goal=72.17m dL=0.17 ttc=5.56s tl=None credit=0 reason=
[STEP] step=1340 speed= 27.69km/h thr=0.66 brk=0.00 str=+0.01 safe=0 progress=72.2% goal=65.68m dL=0.39 ttc=4.33s tl=None credit=0 reason=
[STEP] step=1360 speed= 33.29km/h thr=0.28 brk=0.00 str=-0.03 safe=0 progress=75.9% goal=56.92m dL=0.03 ttc=4.58s tl=None credit=0 reason=
[STEP] step=1380 speed= 30.05km/h thr=0.29 brk=0.00 str=+0.01 safe=0 progress=79.6% goal=48.17m dL=0.20 ttc=5.63s tl=None credit=0 reason=
[STEP] step=1400 speed= 28.22km/h thr=0.40 brk=0.00 str=+0.01 safe=0 progress=83.0% goal=40.12m dL=0.28 ttc=7.81s tl=None credit=0 reason=
[STEP] step=1420 speed= 26.93km/h thr=0.34 brk=0.00 str=+0.01 safe=0 progress=86.3% goal=32.47m dL=0.26 ttc=9.43s tl=None credit=0 reason=
[STEP] step=1440 speed= 26.19km/h thr=0.29 brk=0.00 str=+0.01 safe=0 progress=89.4% goal=25.13m dL=0.28 ttc=28.26s tl=None credit=0 reason=
[STEP] step=1460 speed= 26.51km/h thr=0.40 brk=0.00 str=-0.01 safe=0 progress=92.4% goal=17.91m dL=0.31 ttc=49.51s tl=None credit=0 reason=
[STEP] step=1474 speed= 27.69km/h thr=0.45 brk=0.00 str=-0.05 safe=0 progress=94.7% goal=12.64m dL=0.30 ttc=47.15s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=08 R=46.81 steps=1474 success=1 progress=94.7% DS=94.65 intv=0.271 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 247 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=11 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=72.64s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=34.38s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.90km/h thr=0.42 brk=0.00 str=-0.04 safe=0 progress=2.7% goal=229.90m dL=0.54 ttc=23.87s tl=None credit=0 reason=
[STEP] step=0080 speed= 12.72km/h thr=0.06 brk=0.00 str=-0.05 safe=0 progress=4.5% goal=225.69m dL=1.04 ttc=27.60s tl=None credit=0 reason=
[STEP] step=0100 speed= 10.23km/h thr=0.11 brk=0.00 str=+0.12 safe=0 progress=5.8% goal=222.52m dL=1.31 ttc=34.61s tl=None credit=0 reason=
[STEP] step=0120 speed= 11.74km/h thr=0.30 brk=0.00 str=+0.06 safe=0 progress=7.0% goal=219.76m dL=0.97 ttc=31.04s tl=None credit=0 reason=
[STEP] step=0140 speed= 14.32km/h thr=0.42 brk=0.00 str=-0.09 safe=0 progress=8.4% goal=216.35m dL=0.45 ttc=18.46s tl=None credit=0 reason=
[STEP] step=0160 speed= 12.97km/h thr=0.00 brk=0.39 str=-0.02 safe=0 progress=10.3% goal=212.06m dL=0.15 ttc=15.79s tl=None credit=0 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.13 safe=0 progress=11.1% goal=210.11m dL=0.04 ttc=21.34s tl=None credit=0 reason=
[STEP] step=0200 speed=  3.29km/h thr=0.75 brk=0.00 str=-0.12 safe=1 progress=11.1% goal=210.01m dL=0.04 ttc=18.82s tl=None credit=0 reason=
[STEP] step=0220 speed= 17.66km/h thr=0.30 brk=0.00 str=+0.01 safe=0 progress=12.5% goal=206.76m dL=0.04 ttc=11.87s tl=None credit=0 reason=
[STEP] step=0240 speed= 11.09km/h thr=0.00 brk=0.24 str=+0.01 safe=0 progress=14.3% goal=202.62m dL=0.01 ttc=13.11s tl=None credit=0 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.15 safe=0 progress=14.9% goal=201.19m dL=0.00 ttc=19.33s tl=None credit=0 reason=
[STEP] step=0280 speed=  5.79km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=15.0% goal=200.90m dL=0.00 ttc=15.15s tl=None credit=0 reason=
[STEP] step=0300 speed= 17.94km/h thr=0.12 brk=0.00 str=+0.02 safe=0 progress=16.6% goal=197.07m dL=0.01 ttc=9.11s tl=None credit=0 reason=
[STEP] step=0320 speed=  9.85km/h thr=0.00 brk=0.27 str=-0.00 safe=0 progress=18.2% goal=193.20m dL=0.01 ttc=9.73s tl=None credit=0 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.11 safe=0 progress=18.6% goal=192.28m dL=0.00 ttc=11.52s tl=None credit=0 reason=
[STEP] step=0360 speed=  9.35km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=18.9% goal=191.56m dL=0.01 ttc=6.46s tl=None credit=0 reason=
[STEP] step=0380 speed= 17.33km/h thr=0.18 brk=0.00 str=-0.02 safe=0 progress=20.8% goal=187.20m dL=0.01 ttc=3.98s tl=None credit=0 reason=
[STEP] step=0400 speed= 16.24km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=22.7% goal=182.67m dL=0.01 ttc=2.93s tl=None credit=0 reason=
[STEP] step=0420 speed= 15.94km/h thr=0.42 brk=0.00 str=+0.02 safe=0 progress=24.6% goal=178.19m dL=0.02 ttc=1.96s tl=None credit=0 reason=
[STEP] step=0440 speed= 15.03km/h thr=0.23 brk=0.00 str=-0.02 safe=0 progress=26.5% goal=173.79m dL=0.03 ttc=1.25s tl=None credit=0 reason=
[STEP] step=0460 speed= 13.40km/h thr=0.23 brk=0.00 str=-0.02 safe=0 progress=28.2% goal=169.76m dL=0.02 ttc=37.24s tl=None credit=0 reason=
[STEP] step=0480 speed= 14.04km/h thr=0.21 brk=0.00 str=-0.02 safe=0 progress=29.8% goal=165.90m dL=0.01 ttc=37.95s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.35km/h thr=0.21 brk=0.00 str=-0.00 safe=0 progress=31.5% goal=161.97m dL=0.09 ttc=42.99s tl=None credit=0 reason=
[STEP] step=0520 speed= 13.98km/h thr=0.24 brk=0.00 str=-0.12 safe=0 progress=33.1% goal=158.02m dL=0.02 ttc=50.99s tl=None credit=0 reason=
[STEP] step=0540 speed= 13.61km/h thr=0.29 brk=0.00 str=-0.15 safe=0 progress=34.8% goal=154.05m dL=0.09 ttc=52.70s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.13km/h thr=0.21 brk=0.00 str=+0.08 safe=0 progress=36.4% goal=150.28m dL=0.10 ttc=53.43s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.20km/h thr=0.42 brk=0.00 str=-0.16 safe=0 progress=38.0% goal=146.57m dL=0.10 ttc=47.02s tl=None credit=0 reason=
[STEP] step=0600 speed= 11.39km/h thr=0.00 brk=0.35 str=-0.01 safe=0 progress=39.6% goal=142.82m dL=0.03 ttc=47.79s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.33 str=-0.04 safe=0 progress=40.3% goal=141.00m dL=0.06 ttc=32.77s tl=None credit=0 reason=
[STEP] step=0640 speed=  3.04km/h thr=0.75 brk=0.00 str=-0.08 safe=1 progress=40.4% goal=140.91m dL=0.05 ttc=36.18s tl=None credit=0 reason=
[STEP] step=0660 speed= 15.91km/h thr=0.30 brk=0.00 str=-0.14 safe=0 progress=41.7% goal=137.83m dL=0.03 ttc=43.42s tl=None credit=0 reason=
[STEP] step=0680 speed=  8.71km/h thr=0.00 brk=0.36 str=-0.13 safe=0 progress=43.2% goal=134.21m dL=0.07 ttc=38.25s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.16 safe=0 progress=43.5% goal=133.61m dL=0.10 ttc=24.89s tl=None credit=0 reason=
[STEP] step=0720 speed= 11.16km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=43.9% goal=132.61m dL=0.05 ttc=22.63s tl=None credit=0 reason=
[STEP] step=0740 speed= 13.87km/h thr=0.00 brk=0.35 str=-0.05 safe=0 progress=45.6% goal=128.50m dL=0.08 ttc=20.23s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.21 safe=0 progress=46.6% goal=126.16m dL=0.14 ttc=21.01s tl=None credit=0 reason=
[STEP] step=0780 speed=  1.56km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=46.6% goal=126.13m dL=0.14 ttc=18.26s tl=None credit=0 reason=
[STEP] step=0800 speed= 15.58km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=47.8% goal=123.42m dL=0.01 ttc=13.48s tl=None credit=0 reason=
[STEP] step=0820 speed=  9.71km/h thr=0.00 brk=0.35 str=-0.06 safe=0 progress=49.4% goal=119.59m dL=0.14 ttc=13.10s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.21 safe=0 progress=49.7% goal=118.75m dL=0.15 ttc=14.08s tl=None credit=0 reason=
[STEP] step=0860 speed=  9.32km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=50.0% goal=118.04m dL=0.09 ttc=11.51s tl=None credit=0 reason=
[STEP] step=0880 speed= 14.92km/h thr=0.00 brk=0.32 str=-0.10 safe=0 progress=51.7% goal=114.03m dL=0.13 ttc=9.80s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.18 safe=0 progress=52.9% goal=111.39m dL=0.16 ttc=11.36s tl=None credit=0 reason=
[STEP] step=0920 speed=  0.93km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=52.9% goal=111.37m dL=0.16 ttc=10.32s tl=None credit=0 reason=
[STEP] step=0940 speed= 16.90km/h thr=0.42 brk=0.00 str=-0.08 safe=1 progress=54.0% goal=108.78m dL=0.04 ttc=7.16s tl=None credit=0 reason=
[STEP] step=0960 speed= 18.10km/h thr=0.44 brk=0.00 str=-0.02 safe=0 progress=56.0% goal=103.93m dL=0.08 ttc=6.28s tl=None credit=0 reason=
[STEP] step=0980 speed= 19.29km/h thr=0.38 brk=0.00 str=-0.00 safe=0 progress=58.2% goal=98.77m dL=0.05 ttc=5.59s tl=None credit=0 reason=
[STEP] step=1000 speed= 20.73km/h thr=0.37 brk=0.00 str=-0.00 safe=0 progress=60.6% goal=93.19m dL=0.04 ttc=5.15s tl=None credit=0 reason=
[STEP] step=1020 speed= 21.39km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=63.0% goal=87.33m dL=0.04 ttc=5.55s tl=None credit=0 reason=
[STEP] step=1040 speed= 17.90km/h thr=0.24 brk=0.00 str=-0.04 safe=0 progress=65.3% goal=81.90m dL=0.43 ttc=10.16s tl=None credit=0 reason=
[STEP] step=1060 speed= 18.23km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=67.5% goal=76.87m dL=0.73 ttc=31.57s tl=None credit=0 reason=
[STEP] step=1080 speed= 19.00km/h thr=0.38 brk=0.00 str=+0.04 safe=0 progress=69.7% goal=71.63m dL=0.62 ttc=33.45s tl=None credit=0 reason=
[STEP] step=1100 speed= 17.84km/h thr=0.00 brk=0.39 str=-0.07 safe=0 progress=72.0% goal=66.13m dL=0.29 ttc=28.54s tl=None credit=0 reason=
[STEP] step=1120 speed= 18.49km/h thr=0.57 brk=0.00 str=-0.06 safe=0 progress=74.0% goal=61.53m dL=0.41 ttc=27.58s tl=None credit=0 reason=
[STEP] step=1140 speed= 19.67km/h thr=0.00 brk=0.08 str=+0.12 safe=0 progress=76.3% goal=55.97m dL=0.49 ttc=22.81s tl=None credit=0 reason=
[STEP] step=1160 speed=  9.47km/h thr=0.42 brk=0.00 str=-0.12 safe=0 progress=77.5% goal=53.05m dL=0.35 ttc=17.25s tl=None credit=0 reason=
[STEP] step=1180 speed= 18.24km/h thr=0.36 brk=0.00 str=+0.05 safe=0 progress=79.2% goal=49.27m dL=0.57 ttc=12.35s tl=None credit=0 reason=
[STEP] step=1200 speed= 17.90km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=81.3% goal=44.24m dL=0.65 ttc=11.23s tl=None credit=0 reason=
[STEP] step=1220 speed= 16.00km/h thr=0.39 brk=0.00 str=-0.06 safe=0 progress=83.2% goal=39.59m dL=0.59 ttc=10.80s tl=None credit=0 reason=
[STEP] step=1240 speed= 18.01km/h thr=0.28 brk=0.00 str=+0.05 safe=0 progress=85.3% goal=34.75m dL=0.78 ttc=9.46s tl=None credit=0 reason=
[STEP] step=1260 speed= 18.00km/h thr=0.27 brk=0.00 str=+0.04 safe=0 progress=87.4% goal=29.75m dL=0.86 ttc=7.77s tl=None credit=0 reason=
[STEP] step=1280 speed= 18.03km/h thr=0.27 brk=0.00 str=+0.00 safe=0 progress=89.5% goal=24.75m dL=0.95 ttc=6.33s tl=None credit=0 reason=
[STEP] step=1300 speed= 17.07km/h thr=0.00 brk=0.24 str=+0.10 safe=0 progress=91.6% goal=19.77m dL=0.76 ttc=4.26s tl=None credit=0 reason=
[STEP] step=1320 speed=  8.42km/h thr=0.00 brk=0.32 str=-0.17 safe=0 progress=93.1% goal=16.26m dL=0.31 ttc=3.74s tl=None credit=0 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.06 safe=0 progress=93.4% goal=15.68m dL=0.27 ttc=3.81s tl=None credit=0 reason=
[STEP] step=1360 speed= 10.50km/h thr=0.42 brk=0.00 str=-0.07 safe=1 progress=93.8% goal=14.69m dL=0.20 ttc=2.19s tl=None credit=0 reason=
[STEP] step=1370 speed= 14.23km/h thr=0.36 brk=0.00 str=-0.06 safe=0 progress=94.5% goal=12.95m dL=0.15 ttc=1.72s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=09 R=-54.68 steps=1370 success=1 progress=94.5% DS=94.52 intv=0.182 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 260 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=10 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=64.78s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=32.15s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.21km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=2.6% goal=230.07m dL=0.05 ttc=35.73s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.14 safe=0 progress=3.4% goal=228.38m dL=0.06 ttc=25.58s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.88km/h thr=0.75 brk=0.00 str=-0.07 safe=1 progress=3.4% goal=228.17m dL=0.05 ttc=33.39s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.79km/h thr=0.18 brk=0.00 str=+0.00 safe=0 progress=5.0% goal=224.53m dL=0.02 ttc=53.59s tl=None credit=0 reason=
[STEP] step=0140 speed=  9.97km/h thr=0.00 brk=0.31 str=-0.01 safe=0 progress=6.6% goal=220.61m dL=0.03 ttc=30.16s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.11 safe=0 progress=7.0% goal=219.67m dL=0.03 ttc=15.69s tl=None credit=0 reason=
[STEP] step=0180 speed=  9.32km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=7.3% goal=218.95m dL=0.02 ttc=22.47s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.30km/h thr=0.00 brk=0.26 str=-0.04 safe=0 progress=9.2% goal=214.64m dL=0.04 ttc=35.80s tl=None credit=0 reason=
[STEP] step=0220 speed=  7.71km/h thr=0.00 brk=0.36 str=-0.05 safe=0 progress=10.6% goal=211.34m dL=0.03 ttc=19.25s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.16 safe=0 progress=10.7% goal=211.07m dL=0.02 ttc=14.75s tl=None credit=0 reason=
[STEP] step=0260 speed= 13.91km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=11.3% goal=209.55m dL=0.02 ttc=38.89s tl=None credit=0 reason=
[STEP] step=0280 speed= 14.10km/h thr=0.00 brk=0.24 str=-0.02 safe=0 progress=13.2% goal=205.00m dL=0.03 ttc=38.75s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.01km/h thr=0.00 brk=0.56 str=-0.14 safe=0 progress=14.3% goal=202.41m dL=0.02 ttc=20.68s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.90km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=14.3% goal=202.40m dL=0.02 ttc=17.18s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.97km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=15.5% goal=199.77m dL=0.01 ttc=44.27s tl=None credit=0 reason=
[STEP] step=0360 speed= 12.10km/h thr=0.00 brk=0.24 str=-0.01 safe=0 progress=17.3% goal=195.36m dL=0.02 ttc=34.89s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.19 safe=0 progress=18.1% goal=193.56m dL=0.01 ttc=22.90s tl=None credit=0 reason=
[STEP] step=0400 speed=  3.97km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=18.1% goal=193.41m dL=0.01 ttc=26.61s tl=None credit=0 reason=
[STEP] step=0420 speed= 17.86km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=19.6% goal=189.96m dL=0.01 ttc=40.43s tl=None credit=0 reason=
[STEP] step=0440 speed= 10.71km/h thr=0.00 brk=0.21 str=+0.02 safe=0 progress=21.3% goal=185.89m dL=0.02 ttc=26.72s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.61 str=-0.19 safe=0 progress=21.9% goal=184.65m dL=0.01 ttc=18.78s tl=None credit=0 reason=
[STEP] step=0480 speed=  6.71km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=22.0% goal=184.27m dL=0.01 ttc=19.24s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.64km/h thr=0.00 brk=0.08 str=+0.02 safe=0 progress=23.7% goal=180.31m dL=0.03 ttc=20.20s tl=None credit=0 reason=
[STEP] step=0520 speed=  9.59km/h thr=0.00 brk=0.29 str=+0.04 safe=0 progress=25.3% goal=176.55m dL=0.01 ttc=15.26s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.61 str=-0.19 safe=0 progress=25.7% goal=175.69m dL=0.00 ttc=11.99s tl=None credit=0 reason=
[STEP] step=0560 speed=  9.49km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=26.0% goal=174.98m dL=0.00 ttc=11.63s tl=None credit=0 reason=
[STEP] step=0580 speed= 15.45km/h thr=0.00 brk=0.28 str=-0.02 safe=0 progress=27.7% goal=170.85m dL=0.04 ttc=10.53s tl=None credit=0 reason=
[STEP] step=0600 speed=  6.68km/h thr=0.00 brk=0.37 str=-0.01 safe=0 progress=29.0% goal=167.82m dL=0.16 ttc=8.40s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=29.0% goal=167.74m dL=0.16 ttc=7.02s tl=None credit=0 reason=
[STEP] step=0640 speed= 14.36km/h thr=0.42 brk=0.00 str=-0.08 safe=1 progress=29.8% goal=165.83m dL=0.08 ttc=6.40s tl=None credit=0 reason=
[STEP] step=0660 speed= 14.30km/h thr=0.17 brk=0.00 str=-0.01 safe=0 progress=31.6% goal=161.52m dL=0.03 ttc=5.22s tl=None credit=0 reason=
[STEP] step=0680 speed= 14.19km/h thr=0.29 brk=0.00 str=-0.05 safe=0 progress=33.3% goal=157.65m dL=0.02 ttc=4.50s tl=None credit=0 reason=
[STEP] step=0700 speed= 14.55km/h thr=0.23 brk=0.00 str=-0.13 safe=0 progress=35.0% goal=153.61m dL=0.05 ttc=4.04s tl=None credit=0 reason=
[STEP] step=0720 speed= 14.20km/h thr=0.25 brk=0.00 str=-0.12 safe=0 progress=36.7% goal=149.62m dL=0.06 ttc=4.03s tl=None credit=0 reason=
[STEP] step=0740 speed= 13.92km/h thr=0.15 brk=0.00 str=-0.06 safe=0 progress=38.4% goal=145.65m dL=0.15 ttc=8.10s tl=None credit=0 reason=
[STEP] step=0760 speed= 13.70km/h thr=0.25 brk=0.00 str=-0.09 safe=0 progress=40.0% goal=141.83m dL=0.21 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed= 12.99km/h thr=0.06 brk=0.00 str=+0.03 safe=0 progress=41.6% goal=138.07m dL=0.13 ttc=44.95s tl=None credit=0 reason=
[STEP] step=0800 speed= 13.47km/h thr=0.05 brk=0.00 str=-0.02 safe=0 progress=43.1% goal=134.42m dL=0.21 ttc=42.91s tl=None credit=0 reason=
[STEP] step=0820 speed= 12.22km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=44.5% goal=131.22m dL=0.16 ttc=34.52s tl=None credit=0 reason=
[STEP] step=0840 speed= 13.02km/h thr=0.00 brk=0.15 str=+0.04 safe=0 progress=46.1% goal=127.42m dL=0.21 ttc=105.05s tl=None credit=0 reason=
[STEP] step=0860 speed= 13.57km/h thr=0.18 brk=0.00 str=-0.12 safe=0 progress=47.6% goal=123.82m dL=0.20 ttc=163.32s tl=None credit=0 reason=
[STEP] step=0880 speed= 10.84km/h thr=0.42 brk=0.00 str=-0.10 safe=0 progress=49.0% goal=120.52m dL=0.25 ttc=177.59s tl=None credit=0 reason=
[STEP] step=0900 speed= 12.83km/h thr=0.00 brk=0.32 str=-0.17 safe=0 progress=50.5% goal=116.96m dL=0.21 ttc=121.09s tl=None credit=0 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.29 str=+0.15 safe=0 progress=51.4% goal=114.87m dL=0.30 ttc=78.34s tl=None credit=0 reason=
[STEP] step=0940 speed=  2.43km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=51.4% goal=114.82m dL=0.30 ttc=53.39s tl=None credit=0 reason=
[STEP] step=0960 speed= 15.91km/h thr=0.36 brk=0.00 str=-0.10 safe=0 progress=52.6% goal=111.92m dL=0.12 ttc=37.97s tl=None credit=0 reason=
[STEP] step=0980 speed=  8.99km/h thr=0.00 brk=0.43 str=-0.24 safe=0 progress=54.2% goal=108.19m dL=0.06 ttc=52.07s tl=None credit=0 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.13 safe=0 progress=54.5% goal=107.60m dL=0.02 ttc=45.46s tl=None credit=0 reason=
[STEP] step=1020 speed= 11.27km/h thr=0.75 brk=0.00 str=-0.09 safe=1 progress=54.9% goal=106.60m dL=0.05 ttc=42.30s tl=None credit=0 reason=
[STEP] step=1040 speed= 19.00km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=56.9% goal=101.93m dL=0.09 ttc=40.28s tl=None credit=0 reason=
[STEP] step=1060 speed= 21.58km/h thr=0.37 brk=0.00 str=-0.01 safe=0 progress=59.3% goal=96.19m dL=0.05 ttc=43.20s tl=None credit=0 reason=
[STEP] step=1080 speed= 22.37km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=61.9% goal=90.03m dL=0.04 ttc=28.43s tl=None credit=0 reason=
[STEP] step=1100 speed= 22.74km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=64.6% goal=83.72m dL=0.05 ttc=20.40s tl=None credit=0 reason=
[STEP] step=1120 speed= 22.72km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=67.3% goal=77.36m dL=0.07 ttc=20.28s tl=None credit=0 reason=
[STEP] step=1140 speed= 22.73km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=69.9% goal=71.01m dL=0.10 ttc=21.13s tl=None credit=0 reason=
[STEP] step=1160 speed= 23.26km/h thr=0.38 brk=0.00 str=-0.02 safe=0 progress=72.7% goal=64.60m dL=0.18 ttc=22.11s tl=None credit=0 reason=
[STEP] step=1180 speed= 23.11km/h thr=0.00 brk=0.08 str=-0.05 safe=0 progress=75.5% goal=57.98m dL=0.19 ttc=25.31s tl=None credit=0 reason=
[STEP] step=1200 speed= 16.86km/h thr=0.54 brk=0.00 str=-0.06 safe=0 progress=77.6% goal=52.86m dL=0.36 ttc=30.54s tl=None credit=0 reason=
[STEP] step=1220 speed= 18.45km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=79.8% goal=47.77m dL=0.66 ttc=38.89s tl=None credit=0 reason=
[STEP] step=1240 speed= 18.17km/h thr=0.23 brk=0.00 str=-0.03 safe=0 progress=81.9% goal=42.71m dL=0.74 ttc=58.61s tl=None credit=0 reason=
[STEP] step=1260 speed= 17.76km/h thr=0.25 brk=0.00 str=+0.00 safe=0 progress=84.0% goal=37.72m dL=0.81 ttc=45.23s tl=None credit=0 reason=
[STEP] step=1280 speed= 17.80km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=86.1% goal=32.79m dL=0.89 ttc=44.20s tl=None credit=0 reason=
[STEP] step=1300 speed= 18.01km/h thr=0.29 brk=0.00 str=+0.03 safe=0 progress=88.2% goal=27.81m dL=1.01 ttc=44.03s tl=None credit=0 reason=
[STEP] step=1320 speed= 18.02km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=90.4% goal=22.79m dL=1.10 ttc=50.17s tl=None credit=0 reason=
[STEP] step=1340 speed= 17.98km/h thr=0.30 brk=0.00 str=+0.01 safe=0 progress=92.5% goal=17.77m dL=1.18 ttc=58.13s tl=None credit=0 reason=
[STEP] step=1360 speed= 17.99km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=94.6% goal=12.73m dL=1.26 ttc=61.78s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=10 R=-55.68 steps=1360 success=1 progress=94.6% DS=94.61 intv=0.202 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 272 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=10 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=58.30s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=11.37s tl=None credit=0 reason=
[STEP] step=0060 speed= 16.75km/h thr=0.19 brk=0.00 str=+0.10 safe=0 progress=2.8% goal=229.70m dL=0.09 ttc=8.20s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.51km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=4.7% goal=225.15m dL=0.08 ttc=5.75s tl=None credit=0 reason=
[STEP] step=0100 speed= 17.02km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=6.7% goal=220.48m dL=0.08 ttc=5.84s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.21km/h thr=0.22 brk=0.00 str=-0.04 safe=0 progress=8.7% goal=215.71m dL=0.09 ttc=7.15s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.01km/h thr=0.13 brk=0.00 str=-0.05 safe=0 progress=10.7% goal=211.00m dL=0.14 ttc=88.64s tl=None credit=0 reason=
[STEP] step=0160 speed= 15.64km/h thr=0.28 brk=0.00 str=+0.05 safe=0 progress=12.6% goal=206.54m dL=0.18 ttc=50.61s tl=None credit=0 reason=
[STEP] step=0180 speed= 15.23km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=14.5% goal=202.10m dL=0.18 ttc=51.66s tl=None credit=0 reason=
[STEP] step=0200 speed= 15.91km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=16.4% goal=197.58m dL=0.18 ttc=55.59s tl=None credit=0 reason=
[STEP] step=0220 speed= 16.68km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=18.3% goal=193.08m dL=0.15 ttc=59.58s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.45km/h thr=0.21 brk=0.00 str=-0.00 safe=0 progress=20.2% goal=188.45m dL=0.10 ttc=84.32s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.07km/h thr=0.21 brk=0.00 str=-0.01 safe=0 progress=22.2% goal=183.95m dL=0.04 ttc=80.72s tl=None credit=0 reason=
[STEP] step=0280 speed= 16.61km/h thr=0.33 brk=0.00 str=-0.04 safe=0 progress=24.1% goal=179.45m dL=0.01 ttc=86.01s tl=None credit=0 reason=
[STEP] step=0300 speed= 17.34km/h thr=0.26 brk=0.00 str=-0.00 safe=0 progress=26.1% goal=174.74m dL=0.01 ttc=91.84s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.00km/h thr=0.19 brk=0.00 str=+0.09 safe=0 progress=28.1% goal=169.84m dL=0.04 ttc=90.52s tl=None credit=0 reason=
[STEP] step=0340 speed= 12.39km/h thr=0.00 brk=0.13 str=-0.04 safe=0 progress=30.0% goal=165.43m dL=0.21 ttc=58.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 10.30km/h thr=0.42 brk=0.00 str=-0.12 safe=0 progress=31.2% goal=162.69m dL=0.19 ttc=53.49s tl=None credit=0 reason=
[STEP] step=0380 speed= 13.81km/h thr=0.17 brk=0.00 str=-0.07 safe=0 progress=32.7% goal=159.08m dL=0.13 ttc=73.04s tl=None credit=0 reason=
[STEP] step=0400 speed= 13.38km/h thr=0.20 brk=0.00 str=-0.05 safe=0 progress=34.3% goal=155.34m dL=0.18 ttc=74.63s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.38km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=35.8% goal=151.65m dL=0.23 ttc=80.60s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.35km/h thr=0.20 brk=0.00 str=-0.06 safe=0 progress=37.4% goal=147.96m dL=0.23 ttc=84.73s tl=None credit=0 reason=
[STEP] step=0460 speed= 13.32km/h thr=0.20 brk=0.00 str=-0.09 safe=0 progress=38.9% goal=144.27m dL=0.26 ttc=79.99s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.28km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=40.5% goal=140.61m dL=0.29 ttc=75.46s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.25km/h thr=0.20 brk=0.00 str=-0.05 safe=0 progress=42.0% goal=136.94m dL=0.30 ttc=66.79s tl=None credit=0 reason=
[STEP] step=0520 speed= 13.25km/h thr=0.20 brk=0.00 str=-0.09 safe=0 progress=43.6% goal=133.29m dL=0.31 ttc=62.63s tl=None credit=0 reason=
[STEP] step=0540 speed= 13.26km/h thr=0.20 brk=0.00 str=-0.06 safe=0 progress=45.1% goal=129.63m dL=0.32 ttc=59.07s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.23km/h thr=0.21 brk=0.00 str=-0.12 safe=0 progress=46.7% goal=125.99m dL=0.37 ttc=52.85s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.25km/h thr=0.20 brk=0.00 str=-0.03 safe=0 progress=48.2% goal=122.35m dL=0.39 ttc=49.59s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.22km/h thr=0.21 brk=0.00 str=-0.14 safe=0 progress=49.8% goal=118.70m dL=0.41 ttc=26.79s tl=None credit=0 reason=
[STEP] step=0620 speed= 15.03km/h thr=0.30 brk=0.00 str=-0.08 safe=0 progress=51.4% goal=114.90m dL=0.41 ttc=24.02s tl=None credit=0 reason=
[STEP] step=0640 speed= 15.94km/h thr=0.27 brk=0.00 str=-0.04 safe=0 progress=53.2% goal=110.59m dL=0.41 ttc=20.52s tl=None credit=0 reason=
[STEP] step=0660 speed= 16.43km/h thr=0.32 brk=0.00 str=-0.12 safe=0 progress=55.1% goal=106.15m dL=0.16 ttc=17.42s tl=None credit=0 reason=
[STEP] step=0680 speed= 21.66km/h thr=0.54 brk=0.00 str=+0.10 safe=0 progress=57.2% goal=101.06m dL=0.40 ttc=20.72s tl=None credit=0 reason=
[STEP] step=0700 speed= 21.55km/h thr=0.24 brk=0.00 str=-0.06 safe=0 progress=60.0% goal=94.60m dL=0.28 ttc=25.88s tl=None credit=0 reason=
[STEP] step=0720 speed= 20.15km/h thr=0.41 brk=0.00 str=-0.01 safe=0 progress=62.3% goal=89.06m dL=0.11 ttc=16.07s tl=None credit=0 reason=
[STEP] step=0740 speed= 21.93km/h thr=0.37 brk=0.00 str=-0.00 safe=0 progress=64.8% goal=83.19m dL=0.08 ttc=13.68s tl=None credit=0 reason=
[STEP] step=0760 speed= 22.38km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=67.4% goal=77.01m dL=0.09 ttc=35.82s tl=None credit=0 reason=
[STEP] step=0780 speed= 22.93km/h thr=0.38 brk=0.00 str=+0.01 safe=0 progress=70.1% goal=70.73m dL=0.13 ttc=48.49s tl=None credit=0 reason=
[STEP] step=0800 speed= 23.18km/h thr=0.48 brk=0.00 str=-0.05 safe=0 progress=72.8% goal=64.34m dL=0.23 ttc=44.42s tl=None credit=0 reason=
[STEP] step=0820 speed= 24.51km/h thr=0.00 brk=0.24 str=-0.01 safe=0 progress=75.7% goal=57.46m dL=0.49 ttc=47.77s tl=None credit=0 reason=
[STEP] step=0840 speed= 16.40km/h thr=0.18 brk=0.00 str=+0.03 safe=0 progress=78.0% goal=52.07m dL=0.40 ttc=40.71s tl=None credit=0 reason=
[STEP] step=0860 speed= 18.18km/h thr=0.37 brk=0.00 str=-0.04 safe=0 progress=79.9% goal=47.52m dL=0.59 ttc=46.62s tl=None credit=0 reason=
[STEP] step=0880 speed= 18.19km/h thr=0.23 brk=0.00 str=-0.03 safe=0 progress=82.0% goal=42.49m dL=0.74 ttc=33.68s tl=None credit=0 reason=
[STEP] step=0900 speed= 17.84km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=84.1% goal=37.49m dL=0.81 ttc=34.78s tl=None credit=0 reason=
[STEP] step=0920 speed= 17.86km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=86.2% goal=32.54m dL=0.90 ttc=28.70s tl=None credit=0 reason=
[STEP] step=0940 speed= 18.06km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=88.3% goal=27.54m dL=1.00 ttc=27.23s tl=None credit=0 reason=
[STEP] step=0960 speed= 18.06km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=90.5% goal=22.53m dL=1.10 ttc=31.18s tl=None credit=0 reason=
[STEP] step=0980 speed= 18.00km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=92.6% goal=17.51m dL=1.18 ttc=32.55s tl=None credit=0 reason=
[STEP] step=0999 speed= 18.11km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=94.6% goal=12.73m dL=1.26 ttc=37.93s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=11 R=-97.30 steps=999 success=1 progress=94.6% DS=94.61 intv=0.025 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 284 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=11 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.04 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=67.44s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=22.74s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.63km/h thr=0.42 brk=0.00 str=+0.08 safe=0 progress=2.7% goal=229.86m dL=0.22 ttc=19.87s tl=None credit=0 reason=
[STEP] step=0080 speed= 11.51km/h thr=0.00 brk=0.31 str=+0.01 safe=0 progress=4.5% goal=225.70m dL=0.04 ttc=19.18s tl=None credit=0 reason=
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.15 safe=0 progress=5.2% goal=224.11m dL=0.00 ttc=18.49s tl=None credit=0 reason=
[STEP] step=0120 speed=  4.97km/h thr=0.75 brk=0.00 str=-0.06 safe=1 progress=5.2% goal=223.90m dL=0.00 ttc=20.14s tl=None credit=0 reason=
[STEP] step=0140 speed= 17.82km/h thr=0.18 brk=0.00 str=+0.06 safe=0 progress=6.8% goal=220.25m dL=0.01 ttc=32.10s tl=None credit=0 reason=
[STEP] step=0160 speed=  9.93km/h thr=0.00 brk=0.28 str=-0.00 safe=0 progress=8.4% goal=216.34m dL=0.04 ttc=32.76s tl=None credit=0 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.13 safe=0 progress=8.8% goal=215.40m dL=0.04 ttc=35.69s tl=None credit=0 reason=
[STEP] step=0200 speed=  9.28km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=9.1% goal=214.69m dL=0.03 ttc=25.28s tl=None credit=0 reason=
[STEP] step=0220 speed= 16.40km/h thr=0.00 brk=0.25 str=-0.03 safe=0 progress=11.0% goal=210.37m dL=0.05 ttc=19.27s tl=None credit=0 reason=
[STEP] step=0240 speed=  7.94km/h thr=0.00 brk=0.39 str=-0.01 safe=0 progress=12.4% goal=207.03m dL=0.03 ttc=11.69s tl=None credit=0 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.11 safe=0 progress=12.5% goal=206.65m dL=0.02 ttc=10.44s tl=None credit=0 reason=
[STEP] step=0280 speed= 13.07km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=13.1% goal=205.32m dL=0.02 ttc=9.88s tl=None credit=0 reason=
[STEP] step=0300 speed= 14.70km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=15.0% goal=200.75m dL=0.03 ttc=9.37s tl=None credit=0 reason=
[STEP] step=0320 speed=  6.72km/h thr=0.00 brk=0.39 str=+0.00 safe=0 progress=16.3% goal=197.79m dL=0.01 ttc=8.23s tl=None credit=0 reason=
[STEP] step=0340 speed=  0.23km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=16.3% goal=197.71m dL=0.01 ttc=6.91s tl=None credit=0 reason=
[STEP] step=0360 speed= 15.58km/h thr=0.53 brk=0.00 str=+0.00 safe=1 progress=17.2% goal=195.76m dL=0.01 ttc=8.60s tl=None credit=0 reason=
[STEP] step=0380 speed= 19.31km/h thr=0.43 brk=0.00 str=-0.05 safe=0 progress=19.3% goal=190.73m dL=0.03 ttc=14.99s tl=None credit=0 reason=
[STEP] step=0400 speed= 21.68km/h thr=0.33 brk=0.00 str=-0.06 safe=0 progress=21.7% goal=184.98m dL=0.02 ttc=21.72s tl=None credit=0 reason=
[STEP] step=0420 speed= 21.41km/h thr=0.33 brk=0.00 str=+0.00 safe=0 progress=24.3% goal=178.99m dL=0.01 ttc=22.63s tl=None credit=0 reason=
[STEP] step=0440 speed= 21.13km/h thr=0.38 brk=0.00 str=-0.02 safe=0 progress=26.7% goal=173.13m dL=0.05 ttc=22.03s tl=None credit=0 reason=
[STEP] step=0460 speed= 18.63km/h thr=0.00 brk=0.29 str=-0.03 safe=0 progress=29.2% goal=167.33m dL=0.07 ttc=22.57s tl=None credit=0 reason=
[STEP] step=0480 speed= 12.11km/h thr=0.24 brk=0.00 str=-0.12 safe=0 progress=30.9% goal=163.19m dL=0.01 ttc=23.08s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.64km/h thr=0.18 brk=0.00 str=+0.05 safe=0 progress=32.5% goal=159.44m dL=0.06 ttc=29.23s tl=None credit=0 reason=
[STEP] step=0520 speed= 13.42km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=34.1% goal=155.71m dL=0.02 ttc=33.08s tl=None credit=0 reason=
[STEP] step=0540 speed= 13.36km/h thr=0.21 brk=0.00 str=-0.07 safe=0 progress=35.7% goal=152.01m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.38km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=37.2% goal=148.31m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.33km/h thr=0.20 brk=0.00 str=-0.08 safe=0 progress=38.8% goal=144.62m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.06 safe=0 progress=40.4% goal=140.95m dL=0.23 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 13.28km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=41.9% goal=137.28m dL=0.25 ttc=476.66s tl=None credit=0 reason=
[STEP] step=0640 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.06 safe=0 progress=43.5% goal=133.63m dL=0.26 ttc=269.27s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.28km/h thr=0.20 brk=0.00 str=-0.03 safe=0 progress=45.0% goal=129.96m dL=0.28 ttc=188.26s tl=None credit=0 reason=
[STEP] step=0680 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.06 safe=0 progress=46.5% goal=126.31m dL=0.31 ttc=135.01s tl=None credit=0 reason=
[STEP] step=0700 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.04 safe=0 progress=48.1% goal=122.65m dL=0.33 ttc=109.85s tl=None credit=0 reason=
[STEP] step=0720 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=49.6% goal=119.01m dL=0.37 ttc=87.06s tl=None credit=0 reason=
[STEP] step=0740 speed= 14.53km/h thr=0.42 brk=0.00 str=-0.10 safe=0 progress=51.2% goal=115.23m dL=0.36 ttc=64.51s tl=None credit=0 reason=
[STEP] step=0760 speed= 16.31km/h thr=0.27 brk=0.00 str=-0.06 safe=0 progress=53.1% goal=110.92m dL=0.36 ttc=51.85s tl=None credit=0 reason=
[STEP] step=0780 speed= 16.09km/h thr=0.25 brk=0.00 str=-0.22 safe=0 progress=54.9% goal=106.46m dL=0.18 ttc=37.46s tl=None credit=0 reason=
[STEP] step=0800 speed= 19.87km/h thr=0.57 brk=0.00 str=-0.04 safe=0 progress=57.0% goal=101.57m dL=0.21 ttc=31.31s tl=None credit=0 reason=
[STEP] step=0820 speed= 23.38km/h thr=0.33 brk=0.00 str=-0.01 safe=0 progress=59.6% goal=95.38m dL=0.18 ttc=30.79s tl=None credit=0 reason=
[STEP] step=0840 speed= 23.48km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=62.4% goal=88.94m dL=0.04 ttc=30.87s tl=None credit=0 reason=
[STEP] step=0860 speed= 23.65km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=65.1% goal=82.42m dL=0.03 ttc=31.53s tl=None credit=0 reason=
[STEP] step=0880 speed= 23.58km/h thr=0.33 brk=0.00 str=-0.01 safe=0 progress=67.9% goal=75.89m dL=0.05 ttc=33.80s tl=None credit=0 reason=
[STEP] step=0900 speed= 23.05km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=70.6% goal=69.44m dL=0.06 ttc=37.63s tl=None credit=0 reason=
[STEP] step=0920 speed= 23.08km/h thr=0.45 brk=0.00 str=-0.02 safe=0 progress=73.3% goal=63.14m dL=0.23 ttc=37.41s tl=None credit=0 reason=
[STEP] step=0940 speed= 19.37km/h thr=0.00 brk=0.27 str=-0.00 safe=0 progress=76.0% goal=56.75m dL=0.31 ttc=59.53s tl=None credit=0 reason=
[STEP] step=0960 speed= 18.17km/h thr=0.40 brk=0.00 str=+0.00 safe=0 progress=78.0% goal=51.95m dL=0.46 ttc=61.06s tl=None credit=0 reason=
[STEP] step=0980 speed= 18.05km/h thr=0.23 brk=0.00 str=+0.07 safe=0 progress=80.1% goal=46.91m dL=0.58 ttc=79.97s tl=None credit=0 reason=
[STEP] step=1000 speed= 15.82km/h thr=0.21 brk=0.00 str=-0.07 safe=0 progress=82.1% goal=42.19m dL=0.50 ttc=81.65s tl=None credit=0 reason=
[STEP] step=1020 speed= 18.14km/h thr=0.29 brk=0.00 str=+0.01 safe=0 progress=84.2% goal=37.45m dL=0.72 ttc=76.75s tl=None credit=0 reason=
[STEP] step=1040 speed= 18.13km/h thr=0.25 brk=0.00 str=-0.04 safe=0 progress=86.3% goal=32.43m dL=0.83 ttc=77.40s tl=None credit=0 reason=
[STEP] step=1060 speed= 18.03km/h thr=0.27 brk=0.00 str=-0.02 safe=0 progress=88.4% goal=27.43m dL=0.93 ttc=83.44s tl=None credit=0 reason=
[STEP] step=1080 speed= 18.16km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=90.5% goal=22.42m dL=1.03 ttc=89.37s tl=None credit=0 reason=
[STEP] step=1100 speed= 18.17km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=92.6% goal=17.41m dL=1.12 ttc=87.42s tl=None credit=0 reason=
[STEP] step=1118 speed= 18.20km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=94.5% goal=12.90m dL=1.20 ttc=81.25s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=12 R=-89.02 steps=1118 success=1 progress=94.5% DS=94.54 intv=0.112 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 297 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=8 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=60.44s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=16.31s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.27km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=2.6% goal=230.06m dL=0.04 ttc=9.58s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.09 safe=0 progress=3.4% goal=228.32m dL=0.03 ttc=8.20s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.02km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=3.4% goal=228.17m dL=0.03 ttc=6.95s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.80km/h thr=0.32 brk=0.00 str=+0.08 safe=0 progress=4.9% goal=224.72m dL=0.01 ttc=5.47s tl=None credit=0 reason=
[STEP] step=0140 speed= 12.67km/h thr=0.00 brk=0.25 str=-0.01 safe=0 progress=6.8% goal=220.23m dL=0.06 ttc=5.77s tl=None credit=0 reason=
[STEP] step=0160 speed= 14.22km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=8.2% goal=216.91m dL=0.06 ttc=5.81s tl=None credit=0 reason=
[STEP] step=0180 speed= 17.03km/h thr=0.25 brk=0.00 str=-0.02 safe=0 progress=10.1% goal=212.38m dL=0.01 ttc=7.68s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.29km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=12.1% goal=207.61m dL=0.04 ttc=8.36s tl=None credit=0 reason=
[STEP] step=0220 speed= 17.78km/h thr=0.23 brk=0.00 str=+0.08 safe=0 progress=14.2% goal=202.77m dL=0.07 ttc=8.66s tl=None credit=0 reason=
[STEP] step=0240 speed= 17.31km/h thr=0.31 brk=0.00 str=+0.08 safe=0 progress=16.3% goal=197.84m dL=0.09 ttc=9.25s tl=None credit=0 reason=
[STEP] step=0260 speed= 17.39km/h thr=0.26 brk=0.00 str=+0.01 safe=0 progress=18.3% goal=193.03m dL=0.10 ttc=10.74s tl=None credit=0 reason=
[STEP] step=0280 speed= 16.99km/h thr=0.27 brk=0.00 str=-0.00 safe=0 progress=20.3% goal=188.26m dL=0.11 ttc=9.54s tl=None credit=0 reason=
[STEP] step=0300 speed= 18.14km/h thr=0.33 brk=0.00 str=+0.00 safe=0 progress=22.4% goal=183.37m dL=0.10 ttc=8.55s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.07km/h thr=0.34 brk=0.00 str=-0.03 safe=0 progress=24.5% goal=178.33m dL=0.05 ttc=7.56s tl=None credit=0 reason=
[STEP] step=0340 speed= 17.73km/h thr=0.00 brk=0.08 str=-0.01 safe=0 progress=26.7% goal=173.26m dL=0.01 ttc=6.62s tl=None credit=0 reason=
[STEP] step=0360 speed= 11.80km/h thr=0.00 brk=0.16 str=+0.00 safe=0 progress=28.4% goal=169.27m dL=0.08 ttc=6.17s tl=None credit=0 reason=
[STEP] step=0380 speed=  8.09km/h thr=0.42 brk=0.00 str=-0.17 safe=0 progress=29.4% goal=166.79m dL=0.09 ttc=4.26s tl=None credit=0 reason=
[STEP] step=0400 speed= 14.28km/h thr=0.19 brk=0.00 str=+0.06 safe=0 progress=30.8% goal=163.58m dL=0.01 ttc=3.43s tl=None credit=0 reason=
[STEP] step=0420 speed= 14.50km/h thr=0.26 brk=0.00 str=-0.04 safe=0 progress=32.5% goal=159.58m dL=0.04 ttc=2.27s tl=None credit=0 reason=
[STEP] step=0440 speed= 14.67km/h thr=0.16 brk=0.00 str=-0.02 safe=0 progress=34.2% goal=155.53m dL=0.07 ttc=1.63s tl=None credit=0 reason=
[STEP] step=0460 speed= 14.87km/h thr=0.23 brk=0.00 str=-0.10 safe=0 progress=35.9% goal=151.45m dL=0.08 ttc=1.72s tl=None credit=0 reason=
[STEP] step=0480 speed= 14.24km/h thr=0.24 brk=0.00 str=-0.10 safe=0 progress=37.6% goal=147.42m dL=0.10 ttc=2.08s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.64km/h thr=0.10 brk=0.00 str=-0.01 safe=0 progress=39.2% goal=143.56m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed= 13.45km/h thr=0.31 brk=0.00 str=-0.12 safe=0 progress=40.8% goal=139.81m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed= 12.85km/h thr=0.18 brk=0.00 str=-0.02 safe=0 progress=42.4% goal=136.03m dL=0.19 ttc=116.77s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.35km/h thr=0.00 brk=0.08 str=+0.03 safe=0 progress=44.0% goal=132.24m dL=0.18 ttc=56.04s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.32km/h thr=0.20 brk=0.00 str=-0.10 safe=0 progress=45.5% goal=128.75m dL=0.16 ttc=17.08s tl=None credit=0 reason=
[STEP] step=0600 speed=  8.09km/h thr=0.00 brk=0.34 str=-0.09 safe=0 progress=46.9% goal=125.51m dL=0.17 ttc=13.54s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.02 safe=0 progress=47.1% goal=125.11m dL=0.18 ttc=9.62s tl=None credit=0 reason=
[STEP] step=0640 speed= 12.77km/h thr=0.54 brk=0.00 str=-0.15 safe=1 progress=47.6% goal=123.77m dL=0.10 ttc=13.57s tl=None credit=0 reason=
[STEP] step=0660 speed= 12.61km/h thr=0.00 brk=0.43 str=-0.08 safe=0 progress=49.4% goal=119.65m dL=0.15 ttc=12.73s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.02 safe=0 progress=50.1% goal=117.82m dL=0.19 ttc=8.05s tl=None credit=0 reason=
[STEP] step=0700 speed=  4.06km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=50.2% goal=117.67m dL=0.18 ttc=8.51s tl=None credit=0 reason=
[STEP] step=0720 speed= 16.28km/h thr=0.35 brk=0.00 str=-0.14 safe=0 progress=51.6% goal=114.41m dL=0.07 ttc=11.32s tl=None credit=0 reason=
[STEP] step=0740 speed= 17.61km/h thr=0.36 brk=0.00 str=-0.15 safe=0 progress=53.5% goal=109.77m dL=0.02 ttc=11.53s tl=None credit=0 reason=
[STEP] step=0760 speed= 16.91km/h thr=0.19 brk=0.00 str=-0.02 safe=0 progress=55.6% goal=104.87m dL=0.06 ttc=14.94s tl=None credit=0 reason=
[STEP] step=0780 speed= 18.00km/h thr=0.31 brk=0.00 str=-0.02 safe=0 progress=57.6% goal=100.09m dL=0.03 ttc=16.16s tl=None credit=0 reason=
[STEP] step=0800 speed= 18.21km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=59.8% goal=95.06m dL=0.02 ttc=16.14s tl=None credit=0 reason=
[STEP] step=0820 speed= 18.10km/h thr=0.24 brk=0.00 str=-0.04 safe=0 progress=61.9% goal=90.01m dL=0.00 ttc=13.92s tl=None credit=0 reason=
[STEP] step=0840 speed= 18.11km/h thr=0.22 brk=0.00 str=+0.07 safe=0 progress=64.0% goal=84.98m dL=0.07 ttc=11.95s tl=None credit=0 reason=
[STEP] step=0860 speed= 17.07km/h thr=0.22 brk=0.00 str=+0.04 safe=0 progress=66.1% goal=80.05m dL=0.00 ttc=9.13s tl=None credit=0 reason=
[STEP] step=0880 speed= 16.06km/h thr=0.22 brk=0.00 str=+0.02 safe=0 progress=68.1% goal=75.49m dL=0.06 ttc=7.36s tl=None credit=0 reason=
[STEP] step=0900 speed= 16.54km/h thr=0.38 brk=0.00 str=+0.03 safe=0 progress=69.9% goal=71.04m dL=0.01 ttc=6.62s tl=None credit=0 reason=
[STEP] step=0920 speed= 17.58km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=72.0% goal=66.15m dL=0.08 ttc=6.27s tl=None credit=0 reason=
[STEP] step=0940 speed= 17.88km/h thr=0.32 brk=0.00 str=+0.02 safe=0 progress=74.1% goal=61.22m dL=0.04 ttc=146.65s tl=None credit=0 reason=
[STEP] step=0960 speed= 17.70km/h thr=0.21 brk=0.00 str=-0.01 safe=0 progress=76.2% goal=56.28m dL=0.04 ttc=42.75s tl=None credit=0 reason=
[STEP] step=0980 speed= 18.38km/h thr=0.43 brk=0.00 str=+0.09 safe=0 progress=78.3% goal=51.30m dL=0.20 ttc=31.99s tl=None credit=0 reason=
[STEP] step=1000 speed= 18.98km/h thr=0.44 brk=0.00 str=+0.01 safe=0 progress=80.5% goal=46.19m dL=0.02 ttc=29.60s tl=None credit=0 reason=
[STEP] step=1020 speed= 20.54km/h thr=0.41 brk=0.00 str=-0.04 safe=0 progress=82.8% goal=40.69m dL=0.09 ttc=27.58s tl=None credit=0 reason=
[STEP] step=1040 speed= 20.84km/h thr=0.45 brk=0.00 str=+0.04 safe=0 progress=85.2% goal=35.03m dL=0.01 ttc=27.06s tl=None credit=0 reason=
[STEP] step=1060 speed= 23.11km/h thr=0.46 brk=0.00 str=-0.02 safe=0 progress=87.8% goal=28.91m dL=0.15 ttc=27.75s tl=None credit=0 reason=
[STEP] step=1080 speed= 25.82km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=90.6% goal=22.11m dL=0.18 ttc=29.30s tl=None credit=0 reason=
[STEP] step=1100 speed= 27.02km/h thr=0.41 brk=0.00 str=-0.10 safe=0 progress=93.7% goal=14.80m dL=0.10 ttc=39.35s tl=None credit=0 reason=
[STEP] step=1105 speed= 26.96km/h thr=0.48 brk=0.00 str=+0.14 safe=0 progress=94.5% goal=12.92m dL=0.06 ttc=44.84s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=13 R=-144.73 steps=1105 success=1 progress=94.5% DS=94.53 intv=0.090 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 307 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=11 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.05 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=44.67s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=10.99s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.17km/h thr=0.34 brk=0.00 str=+0.04 safe=0 progress=2.9% goal=229.53m dL=0.12 ttc=8.82s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.02km/h thr=0.20 brk=0.00 str=-0.02 safe=0 progress=5.0% goal=224.48m dL=0.06 ttc=6.94s tl=None credit=0 reason=
[STEP] step=0100 speed= 17.39km/h thr=0.19 brk=0.00 str=-0.04 safe=0 progress=7.1% goal=219.52m dL=0.06 ttc=5.53s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.91km/h thr=0.28 brk=0.00 str=-0.03 safe=0 progress=9.1% goal=214.74m dL=0.09 ttc=5.64s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.51km/h thr=0.30 brk=0.00 str=-0.03 safe=0 progress=11.1% goal=210.07m dL=0.06 ttc=6.71s tl=None credit=0 reason=
[STEP] step=0160 speed= 17.35km/h thr=0.25 brk=0.00 str=+0.06 safe=0 progress=13.1% goal=205.39m dL=0.01 ttc=10.46s tl=None credit=0 reason=
[STEP] step=0180 speed= 17.61km/h thr=0.09 brk=0.00 str=+0.09 safe=0 progress=15.2% goal=200.50m dL=0.07 ttc=70.88s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.11km/h thr=0.42 brk=0.00 str=+0.01 safe=0 progress=17.1% goal=196.00m dL=0.12 ttc=51.56s tl=None credit=0 reason=
[STEP] step=0220 speed= 15.66km/h thr=0.42 brk=0.00 str=-0.13 safe=0 progress=18.9% goal=191.57m dL=0.11 ttc=70.29s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.18km/h thr=0.31 brk=0.00 str=-0.01 safe=0 progress=20.8% goal=187.04m dL=0.13 ttc=80.35s tl=None credit=0 reason=
[STEP] step=0260 speed= 17.93km/h thr=0.32 brk=0.00 str=-0.00 safe=0 progress=22.9% goal=182.27m dL=0.06 ttc=87.47s tl=None credit=0 reason=
[STEP] step=0280 speed= 17.76km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=25.0% goal=177.26m dL=0.00 ttc=87.27s tl=None credit=0 reason=
[STEP] step=0300 speed= 18.02km/h thr=0.28 brk=0.00 str=+0.00 safe=0 progress=27.1% goal=172.26m dL=0.03 ttc=87.55s tl=None credit=0 reason=
[STEP] step=0320 speed= 16.03km/h thr=0.06 brk=0.00 str=+0.06 safe=0 progress=29.2% goal=167.33m dL=0.15 ttc=86.20s tl=None credit=0 reason=
[STEP] step=0340 speed=  8.98km/h thr=0.06 brk=0.00 str=-0.05 safe=0 progress=30.6% goal=163.91m dL=0.21 ttc=64.79s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.69km/h thr=0.36 brk=0.00 str=-0.13 safe=0 progress=31.9% goal=160.97m dL=0.11 ttc=64.55s tl=None credit=0 reason=
[STEP] step=0380 speed= 13.54km/h thr=0.19 brk=0.00 str=-0.04 safe=0 progress=33.5% goal=157.09m dL=0.14 ttc=63.77s tl=None credit=0 reason=
[STEP] step=0400 speed= 13.37km/h thr=0.20 brk=0.00 str=-0.09 safe=0 progress=35.1% goal=153.38m dL=0.19 ttc=58.33s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.38km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=36.7% goal=149.68m dL=0.22 ttc=40.13s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.35km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=38.2% goal=145.99m dL=0.23 ttc=29.40s tl=None credit=0 reason=
[STEP] step=0460 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.10 safe=0 progress=39.8% goal=142.31m dL=0.26 ttc=22.58s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.26km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=41.3% goal=138.66m dL=0.26 ttc=18.34s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.25km/h thr=0.20 brk=0.00 str=-0.11 safe=0 progress=42.9% goal=134.99m dL=0.28 ttc=15.18s tl=None credit=0 reason=
[STEP] step=0520 speed= 13.25km/h thr=0.20 brk=0.00 str=-0.09 safe=0 progress=44.4% goal=131.34m dL=0.30 ttc=12.98s tl=None credit=0 reason=
[STEP] step=0540 speed= 13.26km/h thr=0.20 brk=0.00 str=-0.05 safe=0 progress=46.0% goal=127.68m dL=0.32 ttc=11.37s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.23km/h thr=0.21 brk=0.00 str=-0.11 safe=0 progress=47.5% goal=124.04m dL=0.36 ttc=10.19s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.25km/h thr=0.20 brk=0.00 str=-0.03 safe=0 progress=49.1% goal=120.38m dL=0.37 ttc=9.28s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.88km/h thr=0.17 brk=0.00 str=-0.10 safe=0 progress=50.6% goal=116.69m dL=0.40 ttc=8.20s tl=None credit=0 reason=
[STEP] step=0620 speed= 16.02km/h thr=0.18 brk=0.00 str=-0.07 safe=0 progress=52.3% goal=112.63m dL=0.39 ttc=7.05s tl=None credit=0 reason=
[STEP] step=0640 speed= 15.97km/h thr=0.33 brk=0.00 str=-0.10 safe=0 progress=54.2% goal=108.19m dL=0.37 ttc=6.10s tl=None credit=0 reason=
[STEP] step=0660 speed= 18.11km/h thr=0.56 brk=0.00 str=-0.04 safe=0 progress=56.2% goal=103.56m dL=0.11 ttc=5.10s tl=None credit=0 reason=
[STEP] step=0680 speed= 26.39km/h thr=0.26 brk=0.00 str=+0.13 safe=0 progress=58.8% goal=97.45m dL=0.57 ttc=4.17s tl=None credit=0 reason=
[STEP] step=0700 speed= 19.34km/h thr=0.24 brk=0.00 str=-0.04 safe=0 progress=61.5% goal=91.03m dL=0.17 ttc=4.59s tl=None credit=0 reason=
[STEP] step=0720 speed= 17.97km/h thr=0.30 brk=0.00 str=+0.18 safe=0 progress=63.6% goal=85.91m dL=0.40 ttc=7.83s tl=None credit=0 reason=
[STEP] step=0740 speed= 18.19km/h thr=0.32 brk=0.00 str=+0.02 safe=0 progress=65.8% goal=80.90m dL=0.73 ttc=21.10s tl=None credit=0 reason=
[STEP] step=0760 speed= 18.81km/h thr=0.42 brk=0.00 str=+0.02 safe=0 progress=67.9% goal=75.83m dL=0.84 ttc=17.91s tl=None credit=0 reason=
[STEP] step=0780 speed=  2.77km/h thr=0.00 brk=0.29 str=+0.04 safe=0 progress=69.9% goal=71.02m dL=0.53 ttc=23.44s tl=None credit=0 reason=
[STEP] step=0800 speed=  0.12km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=69.9% goal=71.01m dL=0.53 ttc=24.71s tl=None credit=0 reason=
[STEP] step=0820 speed= 16.03km/h thr=0.42 brk=0.00 str=-0.08 safe=1 progress=70.9% goal=68.86m dL=0.31 ttc=18.70s tl=None credit=0 reason=
[STEP] step=0840 speed= 18.23km/h thr=0.43 brk=0.00 str=-0.09 safe=0 progress=72.9% goal=63.97m dL=0.30 ttc=19.03s tl=None credit=0 reason=
[STEP] step=0860 speed= 22.02km/h thr=0.30 brk=0.00 str=+0.11 safe=0 progress=75.2% goal=58.50m dL=0.55 ttc=18.58s tl=None credit=0 reason=
[STEP] step=0880 speed=  6.30km/h thr=0.24 brk=0.00 str=+0.14 safe=0 progress=77.2% goal=53.93m dL=0.40 ttc=35.57s tl=None credit=0 reason=
[STEP] step=0900 speed= 15.32km/h thr=0.63 brk=0.00 str=-0.09 safe=0 progress=78.4% goal=51.03m dL=0.47 ttc=33.08s tl=None credit=0 reason=
[STEP] step=0920 speed= 18.19km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=80.5% goal=46.09m dL=0.68 ttc=36.28s tl=None credit=0 reason=
[STEP] step=0940 speed= 17.80km/h thr=0.29 brk=0.00 str=-0.06 safe=0 progress=82.6% goal=41.11m dL=0.71 ttc=36.24s tl=None credit=0 reason=
[STEP] step=0960 speed= 17.73km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=84.7% goal=36.13m dL=0.80 ttc=25.75s tl=None credit=0 reason=
[STEP] step=0980 speed= 17.93km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=86.8% goal=31.19m dL=0.90 ttc=17.46s tl=None credit=0 reason=
[STEP] step=1000 speed= 18.03km/h thr=0.27 brk=0.00 str=-0.00 safe=0 progress=88.9% goal=26.19m dL=1.01 ttc=50.55s tl=None credit=0 reason=
[STEP] step=1020 speed= 18.13km/h thr=0.28 brk=0.00 str=+0.01 safe=0 progress=91.0% goal=21.17m dL=1.10 ttc=153.76s tl=None credit=0 reason=
[STEP] step=1040 speed= 18.16km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=93.2% goal=16.15m dL=1.18 ttc=155.04s tl=None credit=0 reason=
[STEP] step=1053 speed= 18.04km/h thr=0.30 brk=0.00 str=-0.00 safe=0 progress=94.6% goal=12.88m dL=1.23 ttc=158.63s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=14 R=-160.29 steps=1053 success=1 progress=94.6% DS=94.55 intv=0.047 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 320 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=15 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=32.51s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.45m dL=0.00 ttc=71.48s tl=None credit=0 reason=
[STEP] step=0060 speed= 16.03km/h thr=0.15 brk=0.00 str=-0.02 safe=0 progress=2.8% goal=229.74m dL=0.16 ttc=100.22s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.82km/h thr=0.30 brk=0.00 str=+0.11 safe=0 progress=4.7% goal=225.28m dL=0.51 ttc=80.41s tl=None credit=0 reason=
[STEP] step=0100 speed= 15.91km/h thr=0.33 brk=0.00 str=-0.11 safe=0 progress=6.6% goal=220.77m dL=0.67 ttc=76.78s tl=None credit=0 reason=
[STEP] step=0120 speed= 14.50km/h thr=0.42 brk=0.00 str=+0.11 safe=0 progress=8.4% goal=216.52m dL=0.62 ttc=94.20s tl=None credit=0 reason=
[STEP] step=0140 speed= 13.80km/h thr=0.18 brk=0.00 str=-0.09 safe=0 progress=10.2% goal=212.23m dL=0.27 ttc=86.58s tl=None credit=0 reason=
[STEP] step=0160 speed= 15.87km/h thr=0.00 brk=0.10 str=+0.07 safe=0 progress=12.0% goal=207.98m dL=0.19 ttc=154.00s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.28km/h thr=0.00 brk=0.45 str=+0.01 safe=0 progress=13.3% goal=204.78m dL=0.01 ttc=105.16s tl=None credit=0 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.16 safe=0 progress=13.4% goal=204.59m dL=0.00 ttc=81.11s tl=None credit=0 reason=
[STEP] step=0220 speed= 14.97km/h thr=0.62 brk=0.00 str=-0.02 safe=1 progress=14.2% goal=202.85m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed= 13.86km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=16.1% goal=198.26m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed=  0.02km/h thr=0.00 brk=0.48 str=-0.09 safe=0 progress=17.2% goal=195.60m dL=0.01 ttc=82.81s tl=None credit=0 reason=
[STEP] step=0280 speed=  0.17km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=17.2% goal=195.60m dL=0.01 ttc=55.41s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.69km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=18.2% goal=193.20m dL=0.01 ttc=200.93s tl=None credit=0 reason=
[STEP] step=0320 speed= 12.71km/h thr=0.00 brk=0.21 str=-0.01 safe=0 progress=20.1% goal=188.71m dL=0.01 ttc=142.45s tl=None credit=0 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.14 safe=0 progress=21.0% goal=186.60m dL=0.00 ttc=61.78s tl=None credit=0 reason=
[STEP] step=0360 speed=  2.30km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=21.1% goal=186.54m dL=0.00 ttc=72.00s tl=None credit=0 reason=
[STEP] step=0380 speed= 17.52km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=22.4% goal=183.49m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 11.50km/h thr=0.00 brk=0.23 str=+0.00 safe=0 progress=24.2% goal=179.22m dL=0.00 ttc=238.68s tl=None credit=0 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.13 safe=0 progress=24.9% goal=177.54m dL=0.00 ttc=75.85s tl=None credit=0 reason=
[STEP] step=0440 speed=  4.17km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=24.9% goal=177.38m dL=0.00 ttc=72.28s tl=None credit=0 reason=
[STEP] step=0460 speed= 17.34km/h thr=0.24 brk=0.00 str=+0.04 safe=0 progress=26.4% goal=173.97m dL=0.01 ttc=245.50s tl=None credit=0 reason=
[STEP] step=0480 speed= 10.07km/h thr=0.00 brk=0.35 str=+0.03 safe=0 progress=28.1% goal=170.01m dL=0.06 ttc=97.89s tl=None credit=0 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.07 safe=0 progress=28.5% goal=169.07m dL=0.09 ttc=55.15s tl=None credit=0 reason=
[STEP] step=0520 speed=  9.38km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=28.8% goal=168.35m dL=0.06 ttc=76.64s tl=None credit=0 reason=
[STEP] step=0540 speed= 14.92km/h thr=0.00 brk=0.31 str=+0.05 safe=0 progress=30.5% goal=164.32m dL=0.05 ttc=53.19s tl=None credit=0 reason=
[STEP] step=0560 speed=  0.59km/h thr=0.00 brk=0.34 str=-0.13 safe=0 progress=31.7% goal=161.50m dL=0.12 ttc=21.99s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.21km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=31.7% goal=161.50m dL=0.12 ttc=17.06s tl=None credit=0 reason=
[STEP] step=0600 speed= 15.00km/h thr=0.42 brk=0.00 str=-0.10 safe=1 progress=32.6% goal=159.19m dL=0.02 ttc=18.86s tl=None credit=0 reason=
[STEP] step=0620 speed= 10.81km/h thr=0.00 brk=0.31 str=-0.03 safe=0 progress=34.3% goal=155.19m dL=0.10 ttc=15.51s tl=None credit=0 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.20 safe=0 progress=34.9% goal=153.92m dL=0.14 ttc=11.82s tl=None credit=0 reason=
[STEP] step=0660 speed=  6.65km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=35.0% goal=153.55m dL=0.12 ttc=11.75s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.18km/h thr=0.00 brk=0.08 str=+0.02 safe=0 progress=36.6% goal=149.84m dL=0.01 ttc=12.17s tl=None credit=0 reason=
[STEP] step=0700 speed=  7.58km/h thr=0.00 brk=0.36 str=-0.11 safe=0 progress=38.0% goal=146.56m dL=0.13 ttc=10.21s tl=None credit=0 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.12 safe=0 progress=38.1% goal=146.30m dL=0.13 ttc=8.28s tl=None credit=0 reason=
[STEP] step=0740 speed= 13.48km/h thr=0.43 brk=0.00 str=-0.15 safe=1 progress=38.7% goal=144.79m dL=0.04 ttc=7.88s tl=None credit=0 reason=
[STEP] step=0760 speed= 12.47km/h thr=0.00 brk=0.33 str=-0.05 safe=0 progress=40.5% goal=140.64m dL=0.09 ttc=6.10s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.15 safe=0 progress=41.3% goal=138.81m dL=0.12 ttc=3.85s tl=None credit=0 reason=
[STEP] step=0800 speed=  4.01km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=41.3% goal=138.66m dL=0.12 ttc=2.71s tl=None credit=0 reason=
[STEP] step=0820 speed= 16.16km/h thr=0.24 brk=0.00 str=-0.01 safe=0 progress=42.7% goal=135.42m dL=0.04 ttc=2.24s tl=None credit=0 reason=
[STEP] step=0840 speed= 12.12km/h thr=0.00 brk=0.12 str=-0.10 safe=0 progress=44.4% goal=131.39m dL=0.30 ttc=2.93s tl=None credit=0 reason=
[STEP] step=0860 speed=  9.66km/h thr=0.16 brk=0.00 str=-0.34 safe=0 progress=45.7% goal=128.41m dL=0.54 ttc=6.50s tl=None credit=0 reason=
[STEP] step=0880 speed= 13.97km/h thr=0.15 brk=0.00 str=-0.03 safe=0 progress=47.0% goal=125.15m dL=0.50 ttc=5.37s tl=None credit=0 reason=
[STEP] step=0900 speed= 10.78km/h thr=0.00 brk=0.26 str=-0.22 safe=0 progress=48.5% goal=121.60m dL=0.61 ttc=4.60s tl=None credit=0 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.26 safe=0 progress=49.0% goal=120.43m dL=0.45 ttc=4.35s tl=None credit=0 reason=
[STEP] step=0940 speed=  7.60km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=49.2% goal=119.99m dL=0.38 ttc=3.48s tl=None credit=0 reason=
[STEP] step=0960 speed= 16.34km/h thr=0.36 brk=0.00 str=+0.05 safe=0 progress=50.8% goal=116.18m dL=0.00 ttc=4.09s tl=None credit=0 reason=
[STEP] step=0980 speed= 18.32km/h thr=0.36 brk=0.00 str=-0.04 safe=0 progress=52.9% goal=111.34m dL=0.03 ttc=14.07s tl=None credit=0 reason=
[STEP] step=1000 speed= 18.91km/h thr=0.64 brk=0.00 str=-0.10 safe=0 progress=55.0% goal=106.24m dL=0.30 ttc=10.89s tl=None credit=0 reason=
[STEP] step=1020 speed= 21.12km/h thr=0.16 brk=0.00 str=+0.02 safe=0 progress=57.6% goal=100.28m dL=0.20 ttc=9.56s tl=None credit=0 reason=
[STEP] step=1040 speed= 19.70km/h thr=0.38 brk=0.00 str=-0.02 safe=0 progress=59.9% goal=94.81m dL=0.05 ttc=7.46s tl=None credit=0 reason=
[STEP] step=1060 speed= 20.57km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=62.3% goal=89.19m dL=0.03 ttc=5.67s tl=None credit=0 reason=
[STEP] step=1080 speed= 21.02km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=64.7% goal=83.41m dL=0.03 ttc=4.45s tl=None credit=0 reason=
[STEP] step=1100 speed= 21.26km/h thr=0.35 brk=0.00 str=-0.00 safe=0 progress=67.2% goal=77.53m dL=0.05 ttc=3.75s tl=None credit=0 reason=
[STEP] step=1120 speed= 21.37km/h thr=0.54 brk=0.00 str=-0.03 safe=0 progress=69.7% goal=71.63m dL=0.08 ttc=3.08s tl=None credit=0 reason=
[STEP] step=1140 speed= 32.72km/h thr=0.68 brk=0.00 str=-0.06 safe=0 progress=72.8% goal=64.29m dL=0.38 ttc=3.00s tl=None credit=0 reason=
[STEP] step=1160 speed= 36.51km/h thr=0.35 brk=0.00 str=+0.07 safe=0 progress=77.0% goal=54.29m dL=1.05 ttc=4.51s tl=None credit=0 reason=
[STEP] step=1180 speed= 33.90km/h thr=0.24 brk=0.00 str=+0.08 safe=0 progress=81.2% goal=44.40m dL=1.48 ttc=19.77s tl=None credit=0 reason=
[STEP] step=1200 speed= 29.44km/h thr=0.30 brk=0.00 str=-0.04 safe=0 progress=84.9% goal=35.61m dL=1.38 ttc=19.72s tl=None credit=0 reason=
[STEP] step=1220 speed= 27.22km/h thr=0.33 brk=0.00 str=+0.09 safe=0 progress=88.2% goal=27.91m dL=1.35 ttc=19.20s tl=None credit=0 reason=
[STEP] step=1240 speed= 25.58km/h thr=0.13 brk=0.00 str=+0.08 safe=0 progress=91.3% goal=20.47m dL=1.35 ttc=17.48s tl=None credit=0 reason=
[STEP] step=1260 speed=  0.80km/h thr=0.24 brk=0.00 str=+0.46 safe=0 progress=93.0% goal=16.54m dL=0.91 ttc=14.68s tl=None credit=0 reason=
[STEP] step=1280 speed= 13.24km/h thr=0.30 brk=0.00 str=-0.15 safe=0 progress=93.8% goal=14.73m dL=0.59 ttc=14.73s tl=None credit=0 reason=
[STEP] step=1290 speed= 11.45km/h thr=0.00 brk=0.21 str=-0.12 safe=0 progress=94.5% goal=12.93m dL=0.55 ttc=14.05s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=15 R=9.64 steps=1290 success=1 progress=94.5% DS=94.53 intv=0.213 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 337 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=15 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=77.19s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=18.42s tl=None credit=0 reason=
[STEP] step=0060 speed= 16.06km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=2.7% goal=229.90m dL=0.08 ttc=17.26s tl=None credit=0 reason=
[STEP] step=0080 speed= 12.31km/h thr=0.18 brk=0.00 str=-0.11 safe=0 progress=4.5% goal=225.71m dL=0.00 ttc=18.24s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.75km/h thr=0.18 brk=0.00 str=+0.04 safe=0 progress=6.2% goal=221.72m dL=0.06 ttc=14.82s tl=None credit=0 reason=
[STEP] step=0120 speed=  9.48km/h thr=0.00 brk=0.30 str=-0.00 safe=0 progress=7.7% goal=217.99m dL=0.08 ttc=18.63s tl=None credit=0 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.21 safe=0 progress=8.1% goal=217.20m dL=0.11 ttc=30.87s tl=None credit=0 reason=
[STEP] step=0160 speed= 10.21km/h thr=0.75 brk=0.00 str=-0.05 safe=1 progress=8.4% goal=216.35m dL=0.06 ttc=14.60s tl=None credit=0 reason=
[STEP] step=0180 speed= 15.99km/h thr=0.00 brk=0.19 str=+0.01 safe=0 progress=10.3% goal=211.95m dL=0.06 ttc=9.61s tl=None credit=0 reason=
[STEP] step=0200 speed=  7.72km/h thr=0.00 brk=0.32 str=+0.03 safe=0 progress=11.7% goal=208.68m dL=0.09 ttc=10.24s tl=None credit=0 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.18 safe=0 progress=11.8% goal=208.35m dL=0.09 ttc=11.47s tl=None credit=0 reason=
[STEP] step=0240 speed= 13.07km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=12.4% goal=207.00m dL=0.05 ttc=5.98s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.63km/h thr=0.06 brk=0.00 str=-0.01 safe=0 progress=14.4% goal=202.30m dL=0.07 ttc=4.25s tl=None credit=0 reason=
[STEP] step=0280 speed= 16.44km/h thr=0.25 brk=0.00 str=-0.03 safe=0 progress=16.3% goal=197.75m dL=0.05 ttc=3.23s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.42km/h thr=0.25 brk=0.00 str=-0.02 safe=0 progress=18.2% goal=193.19m dL=0.02 ttc=2.24s tl=None credit=0 reason=
[STEP] step=0320 speed= 16.82km/h thr=0.23 brk=0.00 str=-0.00 safe=0 progress=20.1% goal=188.69m dL=0.09 ttc=1.43s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.51km/h thr=0.25 brk=0.00 str=-0.01 safe=0 progress=22.1% goal=184.06m dL=0.21 ttc=2.31s tl=None credit=0 reason=
[STEP] step=0360 speed= 16.58km/h thr=0.20 brk=0.00 str=+0.06 safe=0 progress=24.1% goal=179.46m dL=0.21 ttc=56.46s tl=None credit=0 reason=
[STEP] step=0380 speed= 16.87km/h thr=0.25 brk=0.00 str=+0.00 safe=0 progress=26.0% goal=174.81m dL=0.21 ttc=60.99s tl=None credit=0 reason=
[STEP] step=0400 speed= 16.43km/h thr=0.22 brk=0.00 str=-0.05 safe=0 progress=28.0% goal=170.15m dL=0.14 ttc=24.87s tl=None credit=0 reason=
[STEP] step=0420 speed= 14.22km/h thr=0.14 brk=0.00 str=-0.05 safe=0 progress=29.8% goal=165.95m dL=0.07 ttc=17.83s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.43km/h thr=0.36 brk=0.00 str=-0.15 safe=0 progress=31.3% goal=162.30m dL=0.10 ttc=15.95s tl=None credit=0 reason=
[STEP] step=0460 speed= 13.50km/h thr=0.21 brk=0.00 str=-0.08 safe=0 progress=32.9% goal=158.51m dL=0.06 ttc=14.92s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.57km/h thr=0.19 brk=0.00 str=-0.11 safe=0 progress=34.5% goal=154.76m dL=0.06 ttc=13.42s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.75km/h thr=0.36 brk=0.00 str=-0.17 safe=0 progress=36.1% goal=151.08m dL=0.12 ttc=12.77s tl=None credit=0 reason=
[STEP] step=0520 speed= 10.98km/h thr=0.00 brk=0.33 str=-0.05 safe=0 progress=37.6% goal=147.34m dL=0.03 ttc=15.55s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.10 safe=0 progress=38.2% goal=146.05m dL=0.02 ttc=21.29s tl=None credit=0 reason=
[STEP] step=0560 speed=  5.69km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=38.3% goal=145.76m dL=0.01 ttc=32.80s tl=None credit=0 reason=
[STEP] step=0580 speed= 15.76km/h thr=0.00 brk=0.08 str=-0.04 safe=0 progress=39.8% goal=142.22m dL=0.00 ttc=40.77s tl=None credit=0 reason=
[STEP] step=0600 speed=  7.14km/h thr=0.00 brk=0.35 str=-0.13 safe=0 progress=41.1% goal=139.07m dL=0.11 ttc=33.84s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.14 safe=0 progress=41.2% goal=138.93m dL=0.11 ttc=24.43s tl=None credit=0 reason=
[STEP] step=0640 speed= 13.96km/h thr=0.42 brk=0.00 str=-0.13 safe=1 progress=41.9% goal=137.22m dL=0.01 ttc=15.02s tl=None credit=0 reason=
[STEP] step=0660 speed= 11.95km/h thr=0.00 brk=0.33 str=-0.06 safe=0 progress=43.7% goal=133.12m dL=0.12 ttc=17.02s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.16 safe=0 progress=44.3% goal=131.50m dL=0.13 ttc=22.30s tl=None credit=0 reason=
[STEP] step=0700 speed=  4.84km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=44.4% goal=131.29m dL=0.12 ttc=11.30s tl=None credit=0 reason=
[STEP] step=0720 speed= 16.19km/h thr=0.18 brk=0.00 str=+0.05 safe=0 progress=45.9% goal=127.89m dL=0.02 ttc=5.86s tl=None credit=0 reason=
[STEP] step=0740 speed=  8.35km/h thr=0.00 brk=0.33 str=-0.11 safe=0 progress=47.4% goal=124.41m dL=0.15 ttc=5.69s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.20 safe=0 progress=47.6% goal=123.91m dL=0.15 ttc=5.92s tl=None credit=0 reason=
[STEP] step=0780 speed= 12.09km/h thr=0.64 brk=0.00 str=-0.02 safe=1 progress=48.1% goal=122.75m dL=0.07 ttc=3.62s tl=None credit=0 reason=
[STEP] step=0800 speed= 13.58km/h thr=0.00 brk=0.32 str=-0.03 safe=0 progress=49.8% goal=118.56m dL=0.02 ttc=2.50s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.32 str=-0.01 safe=0 progress=50.8% goal=116.24m dL=0.03 ttc=2.28s tl=None credit=0 reason=
[STEP] step=0840 speed=  1.59km/h thr=0.75 brk=0.00 str=-0.10 safe=1 progress=50.8% goal=116.21m dL=0.03 ttc=1.46s tl=None credit=0 reason=
[STEP] step=0860 speed= 16.10km/h thr=0.42 brk=0.00 str=-0.01 safe=1 progress=52.0% goal=113.46m dL=0.02 ttc=20.80s tl=None credit=0 reason=
[STEP] step=0880 speed= 11.02km/h thr=0.00 brk=0.14 str=-0.23 safe=0 progress=53.7% goal=109.44m dL=0.00 ttc=14.85s tl=None credit=0 reason=
[STEP] step=0900 speed= 14.86km/h thr=0.42 brk=0.00 str=+0.01 safe=0 progress=55.1% goal=106.09m dL=0.21 ttc=16.22s tl=None credit=0 reason=
[STEP] step=0920 speed= 18.66km/h thr=0.45 brk=0.00 str=-0.05 safe=0 progress=57.1% goal=101.27m dL=0.30 ttc=17.98s tl=None credit=0 reason=
[STEP] step=0940 speed= 20.73km/h thr=0.25 brk=0.00 str=+0.03 safe=0 progress=59.5% goal=95.61m dL=0.47 ttc=17.08s tl=None credit=0 reason=
[STEP] step=0960 speed= 18.60km/h thr=0.24 brk=0.00 str=+0.06 safe=0 progress=61.9% goal=90.11m dL=0.48 ttc=18.74s tl=None credit=0 reason=
[STEP] step=0980 speed= 17.07km/h thr=0.48 brk=0.00 str=-0.10 safe=0 progress=63.9% goal=85.24m dL=0.13 ttc=16.29s tl=None credit=0 reason=
[STEP] step=1000 speed= 20.23km/h thr=0.40 brk=0.00 str=+0.02 safe=0 progress=66.1% goal=80.01m dL=0.07 ttc=14.00s tl=None credit=0 reason=
[STEP] step=1020 speed= 21.45km/h thr=0.35 brk=0.00 str=+0.01 safe=0 progress=68.6% goal=74.15m dL=0.05 ttc=20.03s tl=None credit=0 reason=
[STEP] step=1040 speed= 21.81km/h thr=0.34 brk=0.00 str=+0.00 safe=0 progress=71.2% goal=68.10m dL=0.06 ttc=18.72s tl=None credit=0 reason=
[STEP] step=1060 speed= 22.37km/h thr=0.44 brk=0.00 str=+0.02 safe=0 progress=73.8% goal=61.97m dL=0.19 ttc=17.72s tl=None credit=0 reason=
[STEP] step=1080 speed= 23.37km/h thr=0.34 brk=0.00 str=+0.02 safe=0 progress=76.5% goal=55.47m dL=0.15 ttc=17.79s tl=None credit=0 reason=
[STEP] step=1100 speed= 15.17km/h thr=0.00 brk=0.36 str=-0.00 safe=0 progress=79.1% goal=49.33m dL=0.13 ttc=12.64s tl=None credit=0 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.33 str=+0.12 safe=0 progress=79.3% goal=49.02m dL=0.13 ttc=7.62s tl=None credit=0 reason=
[STEP] step=1140 speed= 14.78km/h thr=0.62 brk=0.00 str=-0.01 safe=1 progress=80.0% goal=47.30m dL=0.06 ttc=10.22s tl=None credit=0 reason=
[STEP] step=1160 speed= 15.29km/h thr=0.24 brk=0.00 str=+0.02 safe=0 progress=81.9% goal=42.68m dL=0.09 ttc=9.49s tl=None credit=0 reason=
[STEP] step=1180 speed= 15.67km/h thr=0.36 brk=0.00 str=-0.06 safe=0 progress=83.8% goal=38.23m dL=0.12 ttc=8.62s tl=None credit=0 reason=
[STEP] step=1200 speed= 16.30km/h thr=0.24 brk=0.00 str=+0.08 safe=0 progress=85.8% goal=33.62m dL=0.22 ttc=8.09s tl=None credit=0 reason=
[STEP] step=1220 speed= 17.85km/h thr=0.33 brk=0.00 str=+0.03 safe=0 progress=87.7% goal=28.99m dL=0.28 ttc=7.73s tl=None credit=0 reason=
[STEP] step=1240 speed= 18.96km/h thr=0.31 brk=0.00 str=+0.05 safe=0 progress=89.9% goal=23.94m dL=0.33 ttc=7.44s tl=None credit=0 reason=
[STEP] step=1260 speed= 20.95km/h thr=0.43 brk=0.00 str=-0.01 safe=0 progress=92.2% goal=18.49m dL=0.44 ttc=7.28s tl=None credit=0 reason=
[STEP] step=1280 speed= 19.88km/h thr=0.33 brk=0.00 str=-0.02 safe=0 progress=94.6% goal=12.86m dL=0.52 ttc=7.06s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=16 R=-62.14 steps=1280 success=1 progress=94.6% DS=94.56 intv=0.176 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 354 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=12 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=30.97s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=0.8% goal=234.45m dL=0.00 ttc=29.87s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.48km/h thr=0.00 brk=0.26 str=-0.01 safe=0 progress=2.7% goal=230.04m dL=0.08 ttc=19.89s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.19 safe=0 progress=3.5% goal=228.15m dL=0.13 ttc=12.67s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.17km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=3.5% goal=228.05m dL=0.12 ttc=17.57s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.62km/h thr=0.30 brk=0.00 str=-0.15 safe=0 progress=4.9% goal=224.81m dL=0.03 ttc=106.11s tl=None credit=0 reason=
[STEP] step=0140 speed= 13.01km/h thr=0.36 brk=0.00 str=-0.06 safe=0 progress=6.7% goal=220.56m dL=0.01 ttc=36.48s tl=None credit=0 reason=
[STEP] step=0160 speed= 15.96km/h thr=0.07 brk=0.00 str=+0.10 safe=0 progress=8.5% goal=216.31m dL=0.18 ttc=40.16s tl=None credit=0 reason=
[STEP] step=0180 speed= 14.69km/h thr=0.00 brk=0.31 str=-0.02 safe=0 progress=10.3% goal=211.88m dL=0.06 ttc=24.70s tl=None credit=0 reason=
[STEP] step=0200 speed=  0.02km/h thr=0.00 brk=0.56 str=-0.10 safe=0 progress=11.5% goal=209.08m dL=0.01 ttc=14.40s tl=None credit=0 reason=
[STEP] step=0220 speed=  0.38km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=11.5% goal=209.08m dL=0.01 ttc=12.61s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.50km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=12.5% goal=206.70m dL=0.01 ttc=14.46s tl=None credit=0 reason=
[STEP] step=0260 speed= 12.63km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=14.4% goal=202.26m dL=0.02 ttc=12.17s tl=None credit=0 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.11 safe=0 progress=15.3% goal=200.22m dL=0.02 ttc=9.39s tl=None credit=0 reason=
[STEP] step=0300 speed=  2.41km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=15.3% goal=200.16m dL=0.02 ttc=9.12s tl=None credit=0 reason=
[STEP] step=0320 speed= 17.55km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=16.6% goal=197.08m dL=0.01 ttc=8.22s tl=None credit=0 reason=
[STEP] step=0340 speed= 11.36km/h thr=0.00 brk=0.21 str=+0.02 safe=0 progress=18.4% goal=192.84m dL=0.02 ttc=8.63s tl=None credit=0 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.19 safe=0 progress=19.1% goal=191.26m dL=0.01 ttc=6.91s tl=None credit=0 reason=
[STEP] step=0380 speed=  4.90km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=19.1% goal=191.05m dL=0.01 ttc=5.66s tl=None credit=0 reason=
[STEP] step=0400 speed= 17.88km/h thr=0.18 brk=0.00 str=-0.01 safe=0 progress=20.7% goal=187.41m dL=0.01 ttc=3.68s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.28km/h thr=0.30 brk=0.00 str=+0.07 safe=0 progress=22.7% goal=182.67m dL=0.00 ttc=2.60s tl=None credit=0 reason=
[STEP] step=0440 speed= 18.02km/h thr=0.34 brk=0.00 str=-0.04 safe=0 progress=24.7% goal=178.02m dL=0.01 ttc=1.62s tl=None credit=0 reason=
[STEP] step=0460 speed= 20.92km/h thr=0.46 brk=0.00 str=+0.02 safe=0 progress=26.9% goal=172.81m dL=0.34 ttc=1.41s tl=None credit=0 reason=
[STEP] step=0480 speed= 20.84km/h thr=0.23 brk=0.00 str=+0.00 safe=0 progress=29.3% goal=166.96m dL=1.03 ttc=15.34s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.79km/h thr=0.00 brk=0.23 str=+0.01 safe=0 progress=31.6% goal=161.74m dL=1.34 ttc=15.22s tl=None credit=0 reason=
[STEP] step=0520 speed= 10.01km/h thr=0.24 brk=0.00 str=+0.13 safe=0 progress=33.0% goal=158.39m dL=1.11 ttc=17.42s tl=None credit=0 reason=
[STEP] step=0540 speed=  8.37km/h thr=0.06 brk=0.00 str=-0.20 safe=0 progress=34.1% goal=155.63m dL=0.47 ttc=15.04s tl=None credit=0 reason=
[STEP] step=0560 speed= 10.19km/h thr=0.12 brk=0.00 str=-0.23 safe=0 progress=35.2% goal=153.05m dL=0.24 ttc=10.87s tl=None credit=0 reason=
[STEP] step=0580 speed= 12.38km/h thr=0.36 brk=0.00 str=+0.04 safe=0 progress=36.5% goal=150.10m dL=0.17 ttc=8.43s tl=None credit=0 reason=
[STEP] step=0600 speed= 12.36km/h thr=0.36 brk=0.00 str=-0.18 safe=0 progress=38.0% goal=146.40m dL=0.12 ttc=6.77s tl=None credit=0 reason=
[STEP] step=0620 speed= 13.18km/h thr=0.36 brk=0.00 str=-0.10 safe=0 progress=39.6% goal=142.66m dL=0.11 ttc=5.67s tl=None credit=0 reason=
[STEP] step=0640 speed= 11.27km/h thr=0.42 brk=0.00 str=-0.11 safe=0 progress=41.1% goal=139.18m dL=0.06 ttc=4.77s tl=None credit=0 reason=
[STEP] step=0660 speed= 11.19km/h thr=0.00 brk=0.33 str=-0.06 safe=0 progress=42.6% goal=135.58m dL=0.08 ttc=3.90s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.14 safe=0 progress=43.2% goal=134.23m dL=0.10 ttc=3.19s tl=None credit=0 reason=
[STEP] step=0700 speed=  5.72km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=43.3% goal=133.95m dL=0.09 ttc=2.49s tl=None credit=0 reason=
[STEP] step=0720 speed= 16.91km/h thr=0.32 brk=0.00 str=-0.00 safe=0 progress=44.8% goal=130.38m dL=0.07 ttc=4.59s tl=None credit=0 reason=
[STEP] step=0740 speed= 18.21km/h thr=0.44 brk=0.00 str=-0.09 safe=0 progress=46.9% goal=125.41m dL=0.25 ttc=5.95s tl=None credit=0 reason=
[STEP] step=0760 speed= 18.52km/h thr=0.20 brk=0.00 str=-0.10 safe=0 progress=49.1% goal=120.17m dL=0.23 ttc=4.79s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.05 safe=0 progress=49.9% goal=118.44m dL=0.20 ttc=6.31s tl=None credit=0 reason=
[STEP] step=0800 speed=  8.46km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=50.1% goal=117.86m dL=0.13 ttc=4.17s tl=None credit=0 reason=
[STEP] step=0820 speed= 15.35km/h thr=0.00 brk=0.24 str=-0.05 safe=0 progress=51.8% goal=113.93m dL=0.05 ttc=2.71s tl=None credit=0 reason=
[STEP] step=0840 speed=  7.03km/h thr=0.00 brk=0.23 str=-0.09 safe=0 progress=53.1% goal=110.92m dL=0.00 ttc=2.39s tl=None credit=0 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.00 safe=0 progress=53.1% goal=110.74m dL=0.01 ttc=2.46s tl=None credit=0 reason=
[STEP] step=0880 speed= 14.75km/h thr=0.65 brk=0.00 str=-0.12 safe=1 progress=53.9% goal=109.02m dL=0.07 ttc=19.13s tl=None credit=0 reason=
[STEP] step=0900 speed= 18.14km/h thr=0.40 brk=0.00 str=-0.05 safe=0 progress=55.9% goal=104.15m dL=0.19 ttc=19.09s tl=None credit=0 reason=
[STEP] step=0920 speed= 20.00km/h thr=0.52 brk=0.00 str=+0.01 safe=0 progress=58.1% goal=98.97m dL=0.23 ttc=19.65s tl=None credit=0 reason=
[STEP] step=0940 speed= 25.08km/h thr=0.61 brk=0.00 str=+0.02 safe=0 progress=60.8% goal=92.70m dL=0.30 ttc=18.36s tl=None credit=0 reason=
[STEP] step=0960 speed= 31.45km/h thr=0.57 brk=0.00 str=-0.04 safe=0 progress=64.1% goal=84.80m dL=0.25 ttc=16.34s tl=None credit=0 reason=
[STEP] step=0980 speed= 30.50km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=67.9% goal=75.93m dL=0.05 ttc=17.82s tl=None credit=0 reason=
[STEP] step=1000 speed= 27.55km/h thr=0.32 brk=0.00 str=+0.00 safe=0 progress=71.3% goal=67.89m dL=0.02 ttc=24.43s tl=None credit=0 reason=
[STEP] step=1020 speed= 25.55km/h thr=0.35 brk=0.00 str=+0.02 safe=0 progress=74.4% goal=60.54m dL=0.06 ttc=26.17s tl=None credit=0 reason=
[STEP] step=1040 speed= 25.12km/h thr=0.34 brk=0.00 str=-0.00 safe=0 progress=77.4% goal=53.50m dL=0.04 ttc=24.44s tl=None credit=0 reason=
[STEP] step=1060 speed= 23.85km/h thr=0.34 brk=0.00 str=-0.03 safe=0 progress=80.3% goal=46.66m dL=0.08 ttc=17.84s tl=None credit=0 reason=
[STEP] step=1080 speed= 20.01km/h thr=0.00 brk=0.23 str=+0.01 safe=0 progress=82.9% goal=40.31m dL=0.32 ttc=14.62s tl=None credit=0 reason=
[STEP] step=1100 speed= 18.14km/h thr=0.41 brk=0.00 str=+0.01 safe=0 progress=85.1% goal=35.31m dL=0.59 ttc=11.08s tl=None credit=0 reason=
[STEP] step=1120 speed= 18.59km/h thr=0.30 brk=0.00 str=+0.03 safe=0 progress=87.2% goal=30.23m dL=0.86 ttc=9.15s tl=None credit=0 reason=
[STEP] step=1140 speed= 18.23km/h thr=0.26 brk=0.00 str=-0.02 safe=0 progress=89.4% goal=25.14m dL=0.96 ttc=9.52s tl=None credit=0 reason=
[STEP] step=1160 speed= 18.00km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=91.5% goal=20.13m dL=1.03 ttc=8.71s tl=None credit=0 reason=
[STEP] step=1180 speed= 18.04km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=93.6% goal=15.12m dL=1.11 ttc=7.83s tl=None credit=0 reason=
[STEP] step=1189 speed= 18.10km/h thr=0.29 brk=0.00 str=+0.00 safe=0 progress=94.6% goal=12.86m dL=1.15 ttc=7.45s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=17 R=-70.47 steps=1189 success=1 progress=94.6% DS=94.56 intv=0.168 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 368 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=14 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=79.61s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=60.61s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.34km/h thr=0.00 brk=0.28 str=+0.03 safe=0 progress=2.6% goal=230.07m dL=0.05 ttc=39.80s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.62 str=-0.04 safe=0 progress=3.4% goal=228.26m dL=0.11 ttc=21.47s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.95km/h thr=0.75 brk=0.00 str=-0.17 safe=1 progress=3.5% goal=228.11m dL=0.10 ttc=17.68s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.78km/h thr=0.24 brk=0.00 str=-0.13 safe=0 progress=4.9% goal=224.67m dL=0.00 ttc=17.42s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.75km/h thr=0.00 brk=0.27 str=-0.02 safe=0 progress=6.7% goal=220.57m dL=0.05 ttc=20.84s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.19 safe=0 progress=7.2% goal=219.35m dL=0.08 ttc=33.31s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.48km/h thr=0.75 brk=0.00 str=-0.07 safe=1 progress=7.4% goal=218.88m dL=0.05 ttc=52.42s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.20km/h thr=0.00 brk=0.15 str=+0.04 safe=0 progress=9.1% goal=214.80m dL=0.03 ttc=93.84s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.78km/h thr=0.00 brk=0.30 str=+0.02 safe=0 progress=10.6% goal=211.23m dL=0.04 ttc=53.48s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.12 safe=0 progress=10.9% goal=210.64m dL=0.04 ttc=27.74s tl=None credit=0 reason=
[STEP] step=0260 speed= 11.15km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=11.3% goal=209.64m dL=0.03 ttc=19.52s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.43km/h thr=0.00 brk=0.23 str=-0.02 safe=0 progress=13.2% goal=205.18m dL=0.03 ttc=13.45s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.56km/h thr=0.00 brk=0.29 str=-0.01 safe=0 progress=14.5% goal=202.03m dL=0.02 ttc=9.96s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.17 safe=0 progress=14.6% goal=201.75m dL=0.02 ttc=7.82s tl=None credit=0 reason=
[STEP] step=0340 speed= 13.15km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=15.2% goal=200.41m dL=0.01 ttc=6.54s tl=None credit=0 reason=
[STEP] step=0360 speed= 14.01km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=17.1% goal=195.91m dL=0.02 ttc=5.55s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.15 safe=0 progress=18.2% goal=193.29m dL=0.01 ttc=4.65s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.82km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=18.2% goal=193.28m dL=0.01 ttc=3.68s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.91km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=19.3% goal=190.66m dL=0.01 ttc=2.60s tl=None credit=0 reason=
[STEP] step=0440 speed= 22.72km/h thr=0.62 brk=0.00 str=+0.06 safe=0 progress=21.6% goal=185.35m dL=0.21 ttc=1.61s tl=None credit=0 reason=
[STEP] step=0460 speed= 25.66km/h thr=0.19 brk=0.00 str=-0.06 safe=0 progress=24.6% goal=178.26m dL=0.68 ttc=0.73s tl=None credit=0 reason=
[STEP] step=0480 speed= 21.42km/h thr=0.41 brk=0.00 str=+0.09 safe=0 progress=27.3% goal=171.85m dL=0.25 ttc=8.97s tl=None credit=0 reason=
[STEP] step=0500 speed= 23.35km/h thr=0.42 brk=0.00 str=+0.12 safe=0 progress=29.9% goal=165.66m dL=0.12 ttc=6.55s tl=None credit=0 reason=
[STEP] step=0520 speed= 22.85km/h thr=0.41 brk=0.00 str=-0.05 safe=0 progress=32.6% goal=159.30m dL=0.08 ttc=4.98s tl=None credit=0 reason=
[STEP] step=0540 speed=  1.65km/h thr=0.00 brk=0.35 str=-0.03 safe=0 progress=34.9% goal=153.76m dL=0.10 ttc=2.73s tl=None credit=0 reason=
[STEP] step=0560 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=34.9% goal=153.75m dL=0.10 ttc=1.56s tl=None credit=0 reason=
[STEP] step=0580 speed= 14.69km/h thr=0.42 brk=0.00 str=-0.13 safe=1 progress=35.8% goal=151.63m dL=0.00 ttc=0.79s tl=None credit=0 reason=
[STEP] step=0600 speed= 14.55km/h thr=0.16 brk=0.00 str=-0.05 safe=0 progress=37.7% goal=147.33m dL=0.08 ttc=5.72s tl=None credit=0 reason=
[STEP] step=0620 speed= 12.99km/h thr=0.03 brk=0.00 str=-0.15 safe=0 progress=39.2% goal=143.58m dL=0.35 ttc=4.84s tl=None credit=0 reason=
[STEP] step=0640 speed=  9.82km/h thr=0.19 brk=0.00 str=-0.35 safe=0 progress=40.5% goal=140.63m dL=0.73 ttc=3.99s tl=None credit=0 reason=
[STEP] step=0660 speed= 14.24km/h thr=0.24 brk=0.00 str=-0.06 safe=0 progress=41.8% goal=137.54m dL=0.32 ttc=3.09s tl=None credit=0 reason=
[STEP] step=0680 speed= 13.70km/h thr=0.44 brk=0.00 str=+0.07 safe=0 progress=43.4% goal=133.75m dL=0.25 ttc=2.86s tl=None credit=0 reason=
[STEP] step=0700 speed= 17.65km/h thr=0.29 brk=0.00 str=-0.08 safe=0 progress=45.3% goal=129.26m dL=0.63 ttc=10.01s tl=None credit=0 reason=
[STEP] step=0720 speed= 18.17km/h thr=0.37 brk=0.00 str=-0.13 safe=0 progress=47.4% goal=124.36m dL=0.78 ttc=15.87s tl=None credit=0 reason=
[STEP] step=0740 speed= 16.14km/h thr=0.00 brk=0.16 str=+0.08 safe=0 progress=49.5% goal=119.42m dL=0.22 ttc=13.70s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.01 safe=0 progress=49.9% goal=118.41m dL=0.16 ttc=10.85s tl=None credit=0 reason=
[STEP] step=0780 speed= 10.26km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=50.2% goal=117.57m dL=0.09 ttc=11.31s tl=None credit=0 reason=
[STEP] step=0800 speed= 14.52km/h thr=0.00 brk=0.40 str=-0.10 safe=0 progress=52.0% goal=113.46m dL=0.13 ttc=9.65s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.17 safe=0 progress=53.0% goal=110.96m dL=0.16 ttc=6.42s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.95km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=53.0% goal=110.95m dL=0.16 ttc=4.91s tl=None credit=0 reason=
[STEP] step=0860 speed= 16.91km/h thr=0.42 brk=0.00 str=-0.07 safe=1 progress=54.1% goal=108.35m dL=0.04 ttc=4.23s tl=None credit=0 reason=
[STEP] step=0880 speed= 18.38km/h thr=0.43 brk=0.00 str=-0.00 safe=0 progress=56.2% goal=103.50m dL=0.08 ttc=3.17s tl=None credit=0 reason=
[STEP] step=0900 speed= 20.65km/h thr=0.78 brk=0.00 str=-0.01 safe=0 progress=58.4% goal=98.29m dL=0.03 ttc=2.91s tl=None credit=0 reason=
[STEP] step=0920 speed= 33.07km/h thr=0.38 brk=0.00 str=+0.11 safe=0 progress=61.6% goal=90.64m dL=0.46 ttc=3.38s tl=None credit=0 reason=
[STEP] step=0940 speed= 30.49km/h thr=0.37 brk=0.00 str=+0.01 safe=0 progress=65.4% goal=81.78m dL=0.88 ttc=24.95s tl=None credit=0 reason=
[STEP] step=0960 speed= 30.07km/h thr=0.43 brk=0.00 str=-0.04 safe=0 progress=68.9% goal=73.42m dL=1.23 ttc=25.04s tl=None credit=0 reason=
[STEP] step=0980 speed= 30.56km/h thr=0.36 brk=0.00 str=+0.05 safe=0 progress=72.5% goal=64.99m dL=1.46 ttc=30.46s tl=None credit=0 reason=
[STEP] step=1000 speed= 24.77km/h thr=0.00 brk=0.51 str=+0.01 safe=0 progress=75.9% goal=56.98m dL=0.99 ttc=37.61s tl=None credit=0 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.43 safe=0 progress=77.0% goal=54.39m dL=0.69 ttc=54.46s tl=None credit=0 reason=
[STEP] step=1040 speed=  7.60km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=77.2% goal=53.93m dL=0.58 ttc=53.99s tl=None credit=0 reason=
[STEP] step=1060 speed= 17.13km/h thr=0.00 brk=0.16 str=+0.00 safe=0 progress=78.9% goal=49.87m dL=0.31 ttc=43.45s tl=None credit=0 reason=
[STEP] step=1080 speed= 17.47km/h thr=0.50 brk=0.00 str=+0.02 safe=0 progress=80.7% goal=45.63m dL=0.51 ttc=44.48s tl=None credit=0 reason=
[STEP] step=1100 speed= 18.14km/h thr=0.21 brk=0.00 str=-0.02 safe=0 progress=82.8% goal=40.59m dL=0.69 ttc=48.66s tl=None credit=0 reason=
[STEP] step=1120 speed= 17.26km/h thr=0.31 brk=0.00 str=-0.06 safe=0 progress=84.9% goal=35.66m dL=0.70 ttc=35.51s tl=None credit=0 reason=
[STEP] step=1140 speed= 18.05km/h thr=0.27 brk=0.00 str=+0.03 safe=0 progress=87.0% goal=30.70m dL=0.83 ttc=35.29s tl=None credit=0 reason=
[STEP] step=1160 speed= 18.00km/h thr=0.28 brk=0.00 str=+0.04 safe=0 progress=89.1% goal=25.70m dL=0.92 ttc=50.41s tl=None credit=0 reason=
[STEP] step=1180 speed= 17.89km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=91.2% goal=20.70m dL=1.02 ttc=64.89s tl=None credit=0 reason=
[STEP] step=1200 speed= 18.09km/h thr=0.29 brk=0.00 str=+0.02 safe=0 progress=93.4% goal=15.69m dL=1.12 ttc=78.20s tl=None credit=0 reason=
[STEP] step=1211 speed= 18.04km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=94.5% goal=12.93m dL=1.17 ttc=86.26s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=18 R=-61.61 steps=1211 success=1 progress=94.5% DS=94.53 intv=0.206 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 384 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=11 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=25.87s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.32km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=0.8% goal=234.46m dL=0.00 ttc=9.94s tl=None credit=0 reason=
[STEP] step=0060 speed= 13.88km/h thr=0.30 brk=0.00 str=-0.02 safe=0 progress=2.7% goal=229.98m dL=0.06 ttc=8.95s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.51km/h thr=0.26 brk=0.00 str=+0.01 safe=0 progress=4.5% goal=225.59m dL=0.00 ttc=7.58s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.12km/h thr=0.00 brk=0.08 str=+0.03 safe=0 progress=6.5% goal=220.97m dL=0.04 ttc=6.72s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.96km/h thr=0.30 brk=0.00 str=+0.01 safe=0 progress=8.4% goal=216.46m dL=0.04 ttc=5.85s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.83km/h thr=0.26 brk=0.00 str=-0.05 safe=0 progress=10.4% goal=211.76m dL=0.03 ttc=6.36s tl=None credit=0 reason=
[STEP] step=0160 speed= 17.32km/h thr=0.27 brk=0.00 str=-0.03 safe=0 progress=12.4% goal=207.02m dL=0.04 ttc=8.73s tl=None credit=0 reason=
[STEP] step=0180 speed= 17.65km/h thr=0.27 brk=0.00 str=-0.00 safe=0 progress=14.5% goal=202.15m dL=0.10 ttc=61.71s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.21km/h thr=0.42 brk=0.00 str=-0.05 safe=0 progress=16.4% goal=197.56m dL=0.15 ttc=83.01s tl=None credit=0 reason=
[STEP] step=0220 speed= 16.50km/h thr=0.12 brk=0.00 str=+0.03 safe=0 progress=18.3% goal=193.03m dL=0.18 ttc=176.58s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.97km/h thr=0.28 brk=0.00 str=+0.03 safe=0 progress=20.2% goal=188.51m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 18.09km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=22.3% goal=183.64m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 18.17km/h thr=0.19 brk=0.00 str=-0.00 safe=0 progress=24.4% goal=178.62m dL=0.01 ttc=36.45s tl=None credit=0 reason=
[STEP] step=0300 speed= 17.92km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=26.5% goal=173.62m dL=0.01 ttc=34.59s tl=None credit=0 reason=
[STEP] step=0320 speed= 15.02km/h thr=0.00 brk=0.16 str=+0.07 safe=0 progress=28.5% goal=168.93m dL=0.13 ttc=26.71s tl=None credit=0 reason=
[STEP] step=0340 speed=  7.84km/h thr=0.00 brk=0.15 str=-0.06 safe=0 progress=29.8% goal=165.80m dL=0.23 ttc=18.32s tl=None credit=0 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.17 safe=0 progress=30.0% goal=165.30m dL=0.23 ttc=12.88s tl=None credit=0 reason=
[STEP] step=0380 speed= 12.07km/h thr=0.66 brk=0.00 str=-0.01 safe=1 progress=30.5% goal=164.15m dL=0.11 ttc=19.26s tl=None credit=0 reason=
[STEP] step=0400 speed= 14.37km/h thr=0.18 brk=0.00 str=+0.00 safe=0 progress=32.3% goal=159.96m dL=0.08 ttc=17.90s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.42km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=33.9% goal=156.17m dL=0.17 ttc=16.00s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.38km/h thr=0.20 brk=0.00 str=-0.08 safe=0 progress=35.5% goal=152.47m dL=0.20 ttc=17.19s tl=None credit=0 reason=
[STEP] step=0460 speed= 13.37km/h thr=0.20 brk=0.00 str=-0.10 safe=0 progress=37.0% goal=148.77m dL=0.23 ttc=24.74s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.34km/h thr=0.20 brk=0.00 str=-0.06 safe=0 progress=38.6% goal=145.09m dL=0.25 ttc=94.75s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.06 safe=0 progress=40.2% goal=141.41m dL=0.26 ttc=96.92s tl=None credit=0 reason=
[STEP] step=0520 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.05 safe=0 progress=41.7% goal=137.76m dL=0.28 ttc=108.89s tl=None credit=0 reason=
[STEP] step=0540 speed= 13.26km/h thr=0.20 brk=0.00 str=-0.06 safe=0 progress=43.2% goal=134.11m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.09 safe=0 progress=44.8% goal=130.45m dL=0.31 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.06 safe=0 progress=46.3% goal=126.80m dL=0.33 ttc=665.20s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.23km/h thr=0.21 brk=0.00 str=-0.05 safe=0 progress=47.9% goal=123.14m dL=0.36 ttc=274.98s tl=None credit=0 reason=
[STEP] step=0620 speed= 13.24km/h thr=0.20 brk=0.00 str=-0.10 safe=0 progress=49.4% goal=119.51m dL=0.39 ttc=172.85s tl=None credit=0 reason=
[STEP] step=0640 speed= 13.93km/h thr=0.35 brk=0.00 str=-0.05 safe=0 progress=51.0% goal=115.75m dL=0.39 ttc=125.11s tl=None credit=0 reason=
[STEP] step=0660 speed= 15.98km/h thr=0.33 brk=0.00 str=-0.03 safe=0 progress=52.8% goal=111.52m dL=0.39 ttc=88.20s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.19km/h thr=0.09 brk=0.00 str=-0.16 safe=0 progress=54.7% goal=107.08m dL=0.29 ttc=52.04s tl=None credit=0 reason=
[STEP] step=0700 speed= 18.54km/h thr=0.49 brk=0.00 str=+0.05 safe=0 progress=56.7% goal=102.31m dL=0.18 ttc=46.27s tl=None credit=0 reason=
[STEP] step=0720 speed= 23.32km/h thr=0.32 brk=0.00 str=+0.05 safe=0 progress=59.2% goal=96.39m dL=0.26 ttc=48.10s tl=None credit=0 reason=
[STEP] step=0740 speed= 23.02km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=61.9% goal=89.96m dL=0.07 ttc=48.11s tl=None credit=0 reason=
[STEP] step=0760 speed= 22.89km/h thr=0.34 brk=0.00 str=-0.00 safe=0 progress=64.6% goal=83.57m dL=0.04 ttc=48.00s tl=None credit=0 reason=
[STEP] step=0780 speed= 22.38km/h thr=0.35 brk=0.00 str=-0.00 safe=0 progress=67.3% goal=77.29m dL=0.07 ttc=49.79s tl=None credit=0 reason=
[STEP] step=0800 speed= 22.53km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=69.9% goal=71.06m dL=0.11 ttc=43.00s tl=None credit=0 reason=
[STEP] step=0820 speed= 23.16km/h thr=0.47 brk=0.00 str=-0.04 safe=0 progress=72.6% goal=64.76m dL=0.23 ttc=27.10s tl=None credit=0 reason=
[STEP] step=0840 speed= 22.64km/h thr=0.00 brk=0.08 str=-0.00 safe=0 progress=75.4% goal=58.05m dL=0.39 ttc=26.52s tl=None credit=0 reason=
[STEP] step=0860 speed= 17.69km/h thr=0.40 brk=0.00 str=-0.02 safe=0 progress=77.6% goal=52.88m dL=0.42 ttc=18.17s tl=None credit=0 reason=
[STEP] step=0880 speed= 17.97km/h thr=0.27 brk=0.00 str=+0.06 safe=0 progress=79.7% goal=47.87m dL=0.59 ttc=17.99s tl=None credit=0 reason=
[STEP] step=0900 speed= 17.88km/h thr=0.31 brk=0.00 str=+0.02 safe=0 progress=81.8% goal=42.92m dL=0.66 ttc=15.24s tl=None credit=0 reason=
[STEP] step=0920 speed= 18.01km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=83.9% goal=37.94m dL=0.74 ttc=14.96s tl=None credit=0 reason=
[STEP] step=0940 speed= 17.98km/h thr=0.27 brk=0.00 str=-0.02 safe=0 progress=86.1% goal=32.94m dL=0.86 ttc=13.34s tl=None credit=0 reason=
[STEP] step=0960 speed= 18.26km/h thr=0.29 brk=0.00 str=+0.03 safe=0 progress=88.2% goal=27.93m dL=0.98 ttc=14.24s tl=None credit=0 reason=
[STEP] step=0980 speed= 18.06km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=90.3% goal=22.92m dL=1.07 ttc=14.04s tl=None credit=0 reason=
[STEP] step=1000 speed= 18.33km/h thr=0.44 brk=0.00 str=+0.07 safe=0 progress=92.4% goal=17.88m dL=1.01 ttc=21.50s tl=None credit=0 reason=
[STEP] step=1019 speed= 20.12km/h thr=0.33 brk=0.00 str=-0.09 safe=0 progress=94.6% goal=12.87m dL=0.39 ttc=42.84s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=19 R=-74.39 steps=1019 success=1 progress=94.6% DS=94.55 intv=0.049 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 397 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=52.37% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=15 weather=mixed spawn_idx=0 goal_idx=None route_len=236.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=236.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=236.30m dL=0.00 ttc=35.68s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=+0.00 safe=1 progress=0.7% goal=234.68m dL=0.00 ttc=10.53s tl=None credit=0 reason=
[STEP] step=0060 speed= 16.22km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=2.6% goal=230.09m dL=0.02 ttc=6.85s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.46km/h thr=0.25 brk=0.00 str=+0.01 safe=0 progress=4.6% goal=225.45m dL=0.02 ttc=5.22s tl=None credit=0 reason=
[STEP] step=0100 speed= 18.08km/h thr=0.27 brk=0.00 str=-0.02 safe=0 progress=6.6% goal=220.76m dL=0.00 ttc=5.47s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.99km/h thr=0.23 brk=0.00 str=+0.01 safe=0 progress=8.7% goal=215.75m dL=0.01 ttc=6.26s tl=None credit=0 reason=
[STEP] step=0140 speed= 18.08km/h thr=0.21 brk=0.00 str=-0.13 safe=0 progress=10.8% goal=210.75m dL=0.05 ttc=5.90s tl=None credit=0 reason=
[STEP] step=0160 speed= 17.99km/h thr=0.15 brk=0.00 str=+0.01 safe=0 progress=12.9% goal=205.75m dL=0.14 ttc=8.15s tl=None credit=0 reason=
[STEP] step=0180 speed= 16.97km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=15.0% goal=200.86m dL=0.20 ttc=14.25s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.31km/h thr=0.23 brk=0.00 str=+0.06 safe=0 progress=17.0% goal=196.19m dL=0.22 ttc=43.09s tl=None credit=0 reason=
[STEP] step=0220 speed= 15.77km/h thr=0.18 brk=0.00 str=+0.04 safe=0 progress=18.9% goal=191.70m dL=0.21 ttc=28.19s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.74km/h thr=0.26 brk=0.00 str=+0.00 safe=0 progress=20.8% goal=187.14m dL=0.21 ttc=19.21s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.29km/h thr=0.44 brk=0.00 str=+0.02 safe=0 progress=22.7% goal=182.63m dL=0.14 ttc=12.88s tl=None credit=0 reason=
[STEP] step=0280 speed= 17.92km/h thr=0.31 brk=0.00 str=-0.00 safe=0 progress=24.8% goal=177.76m dL=0.18 ttc=9.62s tl=None credit=0 reason=
[STEP] step=0300 speed= 18.00km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=26.9% goal=172.82m dL=0.20 ttc=8.01s tl=None credit=0 reason=
[STEP] step=0320 speed= 11.30km/h thr=0.00 brk=0.15 str=+0.02 safe=0 progress=28.6% goal=168.64m dL=0.05 ttc=7.11s tl=None credit=0 reason=
[STEP] step=0340 speed=  7.33km/h thr=0.42 brk=0.00 str=-0.17 safe=0 progress=29.6% goal=166.36m dL=0.12 ttc=6.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 14.25km/h thr=0.31 brk=0.00 str=-0.04 safe=0 progress=30.9% goal=163.32m dL=0.06 ttc=5.06s tl=None credit=0 reason=
[STEP] step=0380 speed= 13.67km/h thr=0.18 brk=0.00 str=-0.06 safe=0 progress=32.5% goal=159.39m dL=0.12 ttc=4.09s tl=None credit=0 reason=
[STEP] step=0400 speed= 13.32km/h thr=0.21 brk=0.00 str=-0.07 safe=0 progress=34.1% goal=155.67m dL=0.15 ttc=3.11s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.66km/h thr=0.39 brk=0.00 str=-0.05 safe=0 progress=35.7% goal=151.97m dL=0.13 ttc=2.34s tl=None credit=0 reason=
[STEP] step=0440 speed= 18.55km/h thr=0.44 brk=0.00 str=-0.07 safe=0 progress=37.7% goal=147.33m dL=0.11 ttc=2.67s tl=None credit=0 reason=
[STEP] step=0460 speed= 20.19km/h thr=0.39 brk=0.00 str=-0.09 safe=0 progress=39.9% goal=142.06m dL=0.18 ttc=215.24s tl=None credit=0 reason=
[STEP] step=0480 speed= 20.54km/h thr=0.27 brk=0.00 str=-0.09 safe=0 progress=42.2% goal=136.49m dL=0.13 ttc=112.77s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.01km/h thr=0.00 brk=0.32 str=-0.08 safe=0 progress=44.5% goal=131.10m dL=0.16 ttc=87.78s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.22 safe=0 progress=44.8% goal=130.55m dL=0.19 ttc=32.51s tl=None credit=0 reason=
[STEP] step=0540 speed= 12.82km/h thr=0.53 brk=0.00 str=-0.05 safe=1 progress=45.3% goal=129.22m dL=0.08 ttc=130.86s tl=None credit=0 reason=
[STEP] step=0560 speed= 12.79km/h thr=0.00 brk=0.35 str=-0.10 safe=0 progress=47.1% goal=125.09m dL=0.11 ttc=96.43s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.13 safe=0 progress=47.9% goal=123.15m dL=0.15 ttc=55.54s tl=None credit=0 reason=
[STEP] step=0600 speed=  3.18km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=47.9% goal=123.05m dL=0.14 ttc=52.59s tl=None credit=0 reason=
[STEP] step=0620 speed= 16.02km/h thr=0.30 brk=0.00 str=+0.06 safe=0 progress=49.2% goal=119.98m dL=0.02 ttc=67.19s tl=None credit=0 reason=
[STEP] step=0640 speed=  8.91km/h thr=0.00 brk=0.34 str=-0.13 safe=0 progress=50.8% goal=116.32m dL=0.15 ttc=58.90s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.14 safe=0 progress=51.0% goal=115.70m dL=0.13 ttc=56.82s tl=None credit=0 reason=
[STEP] step=0680 speed= 11.18km/h thr=0.75 brk=0.00 str=-0.17 safe=1 progress=51.5% goal=114.70m dL=0.08 ttc=99.35s tl=None credit=0 reason=
[STEP] step=0700 speed= 16.41km/h thr=0.17 brk=0.00 str=-0.03 safe=0 progress=53.3% goal=110.31m dL=0.14 ttc=70.22s tl=None credit=0 reason=
[STEP] step=0720 speed= 16.11km/h thr=0.26 brk=0.00 str=-0.16 safe=0 progress=55.2% goal=105.87m dL=0.10 ttc=55.26s tl=None credit=0 reason=
[STEP] step=0740 speed= 18.37km/h thr=0.40 brk=0.00 str=-0.01 safe=0 progress=57.2% goal=101.06m dL=0.08 ttc=50.18s tl=None credit=0 reason=
[STEP] step=0760 speed= 21.03km/h thr=0.35 brk=0.00 str=+0.00 safe=0 progress=59.6% goal=95.46m dL=0.03 ttc=36.76s tl=None credit=0 reason=
[STEP] step=0780 speed= 21.55km/h thr=0.34 brk=0.00 str=+0.01 safe=0 progress=62.1% goal=89.51m dL=0.02 ttc=28.12s tl=None credit=0 reason=
[STEP] step=0800 speed= 22.01km/h thr=0.35 brk=0.00 str=+0.01 safe=0 progress=64.7% goal=83.42m dL=0.03 ttc=24.46s tl=None credit=0 reason=
[STEP] step=0820 speed= 22.50km/h thr=0.35 brk=0.00 str=+0.01 safe=0 progress=67.3% goal=77.21m dL=0.03 ttc=23.21s tl=None credit=0 reason=
[STEP] step=0840 speed= 22.81km/h thr=0.34 brk=0.00 str=+0.01 safe=0 progress=70.0% goal=70.86m dL=0.04 ttc=22.91s tl=None credit=0 reason=
[STEP] step=0860 speed= 22.54km/h thr=0.33 brk=0.00 str=-0.00 safe=0 progress=72.7% goal=64.51m dL=0.09 ttc=22.62s tl=None credit=0 reason=
[STEP] step=0880 speed= 22.93km/h thr=0.34 brk=0.00 str=+0.02 safe=0 progress=75.4% goal=58.19m dL=0.09 ttc=22.82s tl=None credit=0 reason=
[STEP] step=0900 speed= 22.85km/h thr=0.37 brk=0.00 str=+0.01 safe=0 progress=78.1% goal=51.80m dL=0.10 ttc=24.78s tl=None credit=0 reason=
[STEP] step=0920 speed= 22.12km/h thr=0.00 brk=0.16 str=+0.02 safe=0 progress=80.8% goal=45.36m dL=0.19 ttc=26.81s tl=None credit=0 reason=
[STEP] step=0940 speed= 16.78km/h thr=0.54 brk=0.00 str=-0.04 safe=0 progress=82.9% goal=40.40m dL=0.35 ttc=17.39s tl=None credit=0 reason=
[STEP] step=0960 speed= 17.89km/h thr=0.23 brk=0.00 str=+0.06 safe=0 progress=85.0% goal=35.33m dL=0.61 ttc=14.38s tl=None credit=0 reason=
[STEP] step=0980 speed= 17.97km/h thr=0.25 brk=0.00 str=-0.02 safe=0 progress=87.2% goal=30.33m dL=0.71 ttc=11.32s tl=None credit=0 reason=
[STEP] step=1000 speed= 18.01km/h thr=0.26 brk=0.00 str=-0.00 safe=0 progress=89.3% goal=25.34m dL=0.82 ttc=8.64s tl=None credit=0 reason=
[STEP] step=1020 speed= 18.00km/h thr=0.25 brk=0.00 str=+0.01 safe=0 progress=91.4% goal=20.34m dL=0.91 ttc=6.77s tl=None credit=0 reason=
[STEP] step=1040 speed= 17.90km/h thr=0.27 brk=0.00 str=+0.03 safe=0 progress=93.5% goal=15.34m dL=1.01 ttc=6.00s tl=None credit=0 reason=
[STEP] step=1050 speed= 18.03km/h thr=0.27 brk=0.00 str=+0.02 safe=0 progress=94.6% goal=12.85m dL=1.06 ttc=5.61s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=20 R=-127.18 steps=1050 success=1 progress=94.6% DS=94.56 intv=0.095 reason=goal
[Town05_zeroshot_source_agent] avgR=-61.05 SR=100.0% avgDS=94.56 avgIS=1.000 intv=0.162 coll/km=0.0000 off/km=0.0000 to/km=0.0000
==========================================================================================
Final summary for Town05: SR=100.0% DS=94.56 IS=1.000 coll/km=0.0000 off/km=0.0000 to/km=0.0000
Episodes CSV: /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town05_zeroshot_source_agent.csv
Summary CSV : /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town05_zeroshot_source_agent_summary.csv
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 414 (sensor.other.collision) 
